Class robot_dart::RobotDARTSimu¶

ClassList > robot_dart > RobotDARTSimu

Public Types¶

Type	Name
typedef std::shared_ptr< Robot >	robot_t

Public Functions¶

Type	Name
	RobotDARTSimu (double timestep=0.015)
std::shared_ptr< Robot >	add_checkerboard_floor (double floor_width=10.0, double floor_height=0.1, double size=1., const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity(), const std::string & floor_name="checkerboard_floor", const Eigen::Vector4d & first_color=dart::Color::White(1.), const Eigen::Vector4d & second_color=dart::Color::Gray(1.))
std::shared_ptr< Robot >	add_floor (double floor_width=10.0, double floor_height=0.1, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity(), const std::string & floor_name="floor")
void	add_robot (const robot_t & robot)
std::shared_ptr< T >	add_sensor (Args &&... args)
void	add_sensor (const std::shared_ptr< sensor::Sensor > & sensor)
std::shared_ptr< simu::TextData >	add_text (const std::string & text, const Eigen::Affine2d & tf=Eigen::Affine2d::Identity(), Eigen::Vector4d color=Eigen::Vector4d(1, 1, 1, 1), std::uint8_t alignment=2<< 2, bool draw_bg=false, Eigen::Vector4d bg_color=Eigen::Vector4d(0, 0, 0, 0.75), double font_size=28)
void	add_visual_robot (const robot_t & robot)
void	clear_robots ()
void	clear_sensors ()
uint32_t	collision_category (size_t robot_index, const std::string & body_name)
uint32_t	collision_category (size_t robot_index, size_t body_index)
const std::string &	collision_detector () const
uint32_t	collision_mask (size_t robot_index, const std::string & body_name)
uint32_t	collision_mask (size_t robot_index, size_t body_index)
std::pair< uint32_t, uint32_t >	collision_masks (size_t robot_index, const std::string & body_name)
std::pair< uint32_t, uint32_t >	collision_masks (size_t robot_index, size_t body_index)
int	control_freq () const
void	enable_status_bar (bool enable=true, double font_size=-1)
void	enable_text_panel (bool enable=true, double font_size=-1)
std::shared_ptr< gui::Base >	graphics () const
int	graphics_freq () const
Eigen::Vector3d	gravity () const
simu::GUIData *	gui_data ()
bool	halted_sim () const
size_t	num_robots () const
int	physics_freq () const
void	remove_all_collision_masks ()
void	remove_collision_masks (size_t robot_index)
void	remove_collision_masks (size_t robot_index, const std::string & body_name)
void	remove_collision_masks (size_t robot_index, size_t body_index)
void	remove_robot (const robot_t & robot)
void	remove_robot (size_t index)
void	remove_sensor (const std::shared_ptr< sensor::Sensor > & sensor)
void	remove_sensor (size_t index)
void	remove_sensors (const std::string & type)
robot_t	robot (size_t index) const
int	robot_index (const robot_t & robot) const
const std::vector< robot_t > &	robots () const
void	run (double max_duration=5.0, bool reset_commands=false, bool force_position_bounds=true)
bool	schedule (int freq)
Scheduler &	scheduler ()
const Scheduler &	scheduler () const
std::shared_ptr< sensor::Sensor >	sensor (size_t index) const
std::vector< std::shared_ptr< sensor::Sensor > >	sensors () const
void	set_collision_detector (const std::string & collision_detector)
void	set_collision_masks (size_t robot_index, uint32_t category_mask, uint32_t collision_mask)
void	set_collision_masks (size_t robot_index, const std::string & body_name, uint32_t category_mask, uint32_t collision_mask)
void	set_collision_masks (size_t robot_index, size_t body_index, uint32_t category_mask, uint32_t collision_mask)
void	set_control_freq (int frequency)
void	set_graphics (const std::shared_ptr< gui::Base > & graphics)
void	set_graphics_freq (int frequency)
void	set_gravity (const Eigen::Vector3d & gravity)
void	set_text_panel (const std::string & str)
void	set_timestep (double timestep, bool update_control_freq=true)
std::string	status_bar_text () const
bool	step (bool reset_commands=false, bool force_position_bounds=true)
bool	step_world (bool reset_commands=false, bool force_position_bounds=true)
void	stop_sim (bool disable=true)
std::string	text_panel_text () const
double	timestep () const
dart::simulation::WorldPtr	world ()
	~RobotDARTSimu ()

Protected Attributes¶

Type	Name
bool	_break
int	_control_freq = = -1
std::shared_ptr< gui::Base >	_graphics
int	_graphics_freq = = 40
std::unique_ptr< simu::GUIData >	_gui_data
size_t	_old_index
int	_physics_freq = = -1
std::vector< robot_t >	_robots
Scheduler	_scheduler
std::vector< std::shared_ptr< sensor::Sensor > >	_sensors
std::shared_ptr< simu::TextData >	_status_bar = = nullptr
std::shared_ptr< simu::TextData >	_text_panel = = nullptr
dart::simulation::WorldPtr	_world

Protected Functions¶

Type	Name
void	_enable (std::shared_ptr< simu::TextData > & text, bool enable, double font_size)

Public Types Documentation¶

typedef robot_t¶

using robot_dart::RobotDARTSimu::robot_t =  std::shared_ptr<Robot>;

Public Functions Documentation¶

function RobotDARTSimu¶

robot_dart::RobotDARTSimu::RobotDARTSimu (
    double timestep=0.015
)

function add_checkerboard_floor¶

std::shared_ptr< Robot > robot_dart::RobotDARTSimu::add_checkerboard_floor (
    double floor_width=10.0,
    double floor_height=0.1,
    double size=1.,
    const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity(),
    const std::string & floor_name="checkerboard_floor",
    const Eigen::Vector4d & first_color=dart::Color::White(1.),
    const Eigen::Vector4d & second_color=dart::Color::Gray(1.)
)

function add_floor¶

std::shared_ptr< Robot > robot_dart::RobotDARTSimu::add_floor (
    double floor_width=10.0,
    double floor_height=0.1,
    const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity(),
    const std::string & floor_name="floor"
)

function add_robot¶

void robot_dart::RobotDARTSimu::add_robot (
    const robot_t & robot
)

function add_sensor [½]¶

template<typename T, typename... Args>
inline std::shared_ptr< T > robot_dart::RobotDARTSimu::add_sensor (
    Args &&... args
)

function add_sensor [2/2]¶

void robot_dart::RobotDARTSimu::add_sensor (
    const std::shared_ptr< sensor::Sensor > & sensor
)

function add_text¶

std::shared_ptr< simu::TextData > robot_dart::RobotDARTSimu::add_text (
    const std::string & text,
    const Eigen::Affine2d & tf=Eigen::Affine2d::Identity(),
    Eigen::Vector4d color=Eigen::Vector4d(1, 1, 1, 1),
    std::uint8_t alignment=2<< 2,
    bool draw_bg=false,
    Eigen::Vector4d bg_color=Eigen::Vector4d(0, 0, 0, 0.75),
    double font_size=28
)

function add_visual_robot¶

void robot_dart::RobotDARTSimu::add_visual_robot (
    const robot_t & robot
)

function clear_robots¶

void robot_dart::RobotDARTSimu::clear_robots ()

function clear_sensors¶

void robot_dart::RobotDARTSimu::clear_sensors ()

function collision_category [½]¶

uint32_t robot_dart::RobotDARTSimu::collision_category (
    size_t robot_index,
    const std::string & body_name
)

function collision_category [2/2]¶

uint32_t robot_dart::RobotDARTSimu::collision_category (
    size_t robot_index,
    size_t body_index
)

function collision_detector¶

const std::string & robot_dart::RobotDARTSimu::collision_detector () const

function collision_mask [½]¶

uint32_t robot_dart::RobotDARTSimu::collision_mask (
    size_t robot_index,
    const std::string & body_name
)

function collision_mask [2/2]¶

uint32_t robot_dart::RobotDARTSimu::collision_mask (
    size_t robot_index,
    size_t body_index
)

function collision_masks [½]¶

std::pair< uint32_t, uint32_t > robot_dart::RobotDARTSimu::collision_masks (
    size_t robot_index,
    const std::string & body_name
)

function collision_masks [2/2]¶

std::pair< uint32_t, uint32_t > robot_dart::RobotDARTSimu::collision_masks (
    size_t robot_index,
    size_t body_index
)

function control_freq¶

inline int robot_dart::RobotDARTSimu::control_freq () const

function enable_status_bar¶

void robot_dart::RobotDARTSimu::enable_status_bar (
    bool enable=true,
    double font_size=-1
)

function enable_text_panel¶

void robot_dart::RobotDARTSimu::enable_text_panel (
    bool enable=true,
    double font_size=-1
)

function graphics¶

std::shared_ptr< gui::Base > robot_dart::RobotDARTSimu::graphics () const

function graphics_freq¶

inline int robot_dart::RobotDARTSimu::graphics_freq () const

function gravity¶

Eigen::Vector3d robot_dart::RobotDARTSimu::gravity () const

function gui_data¶

simu::GUIData * robot_dart::RobotDARTSimu::gui_data ()

function halted_sim¶

bool robot_dart::RobotDARTSimu::halted_sim () const

function num_robots¶

size_t robot_dart::RobotDARTSimu::num_robots () const

function physics_freq¶

inline int robot_dart::RobotDARTSimu::physics_freq () const

function remove_all_collision_masks¶

void robot_dart::RobotDARTSimu::remove_all_collision_masks ()

function remove_collision_masks [⅓]¶

void robot_dart::RobotDARTSimu::remove_collision_masks (
    size_t robot_index
)

function remove_collision_masks [⅔]¶

void robot_dart::RobotDARTSimu::remove_collision_masks (
    size_t robot_index,
    const std::string & body_name
)

function remove_collision_masks [3/3]¶

void robot_dart::RobotDARTSimu::remove_collision_masks (
    size_t robot_index,
    size_t body_index
)

function remove_robot [½]¶

void robot_dart::RobotDARTSimu::remove_robot (
    const robot_t & robot
)

function remove_robot [2/2]¶

void robot_dart::RobotDARTSimu::remove_robot (
    size_t index
)

function remove_sensor [½]¶

void robot_dart::RobotDARTSimu::remove_sensor (
    const std::shared_ptr< sensor::Sensor > & sensor
)

function remove_sensor [2/2]¶

void robot_dart::RobotDARTSimu::remove_sensor (
    size_t index
)

function remove_sensors¶

void robot_dart::RobotDARTSimu::remove_sensors (
    const std::string & type
)

function robot¶

robot_t robot_dart::RobotDARTSimu::robot (
    size_t index
) const

function robot_index¶

int robot_dart::RobotDARTSimu::robot_index (
    const robot_t & robot
) const

function robots¶

const std::vector< robot_t > & robot_dart::RobotDARTSimu::robots () const

function run¶

void robot_dart::RobotDARTSimu::run (
    double max_duration=5.0,
    bool reset_commands=false,
    bool force_position_bounds=true
)

function schedule¶

inline bool robot_dart::RobotDARTSimu::schedule (
    int freq
)

function scheduler [½]¶

inline Scheduler & robot_dart::RobotDARTSimu::scheduler ()

function scheduler [2/2]¶

inline const Scheduler & robot_dart::RobotDARTSimu::scheduler () const

function sensor¶

std::shared_ptr< sensor::Sensor > robot_dart::RobotDARTSimu::sensor (
    size_t index
) const

function sensors¶

std::vector< std::shared_ptr< sensor::Sensor > > robot_dart::RobotDARTSimu::sensors () const

function set_collision_detector¶

void robot_dart::RobotDARTSimu::set_collision_detector (
    const std::string & collision_detector
)

function set_collision_masks [⅓]¶

void robot_dart::RobotDARTSimu::set_collision_masks (
    size_t robot_index,
    uint32_t category_mask,
    uint32_t collision_mask
)

function set_collision_masks [⅔]¶

void robot_dart::RobotDARTSimu::set_collision_masks (
    size_t robot_index,
    const std::string & body_name,
    uint32_t category_mask,
    uint32_t collision_mask
)

function set_collision_masks [3/3]¶

void robot_dart::RobotDARTSimu::set_collision_masks (
    size_t robot_index,
    size_t body_index,
    uint32_t category_mask,
    uint32_t collision_mask
)

function set_control_freq¶

inline void robot_dart::RobotDARTSimu::set_control_freq (
    int frequency
)

function set_graphics¶

void robot_dart::RobotDARTSimu::set_graphics (
    const std::shared_ptr< gui::Base > & graphics
)

function set_graphics_freq¶

inline void robot_dart::RobotDARTSimu::set_graphics_freq (
    int frequency
)

function set_gravity¶

void robot_dart::RobotDARTSimu::set_gravity (
    const Eigen::Vector3d & gravity
)

function set_text_panel¶

void robot_dart::RobotDARTSimu::set_text_panel (
    const std::string & str
)

function set_timestep¶

void robot_dart::RobotDARTSimu::set_timestep (
    double timestep,
    bool update_control_freq=true
)

function status_bar_text¶

std::string robot_dart::RobotDARTSimu::status_bar_text () const

function step¶

bool robot_dart::RobotDARTSimu::step (
    bool reset_commands=false,
    bool force_position_bounds=true
)

function step_world¶

bool robot_dart::RobotDARTSimu::step_world (
    bool reset_commands=false,
    bool force_position_bounds=true
)

function stop_sim¶

void robot_dart::RobotDARTSimu::stop_sim (
    bool disable=true
)

function text_panel_text¶

std::string robot_dart::RobotDARTSimu::text_panel_text () const

function timestep¶

double robot_dart::RobotDARTSimu::timestep () const

function world¶

dart::simulation::WorldPtr robot_dart::RobotDARTSimu::world ()

function ~RobotDARTSimu¶

robot_dart::RobotDARTSimu::~RobotDARTSimu ()

Protected Attributes Documentation¶

variable _break¶

bool robot_dart::RobotDARTSimu::_break;

variable _control_freq¶

int robot_dart::RobotDARTSimu::_control_freq;

variable _graphics¶

std::shared_ptr<gui::Base> robot_dart::RobotDARTSimu::_graphics;

variable _graphics_freq¶

int robot_dart::RobotDARTSimu::_graphics_freq;

variable _gui_data¶

std::unique_ptr<simu::GUIData> robot_dart::RobotDARTSimu::_gui_data;

variable _old_index¶

size_t robot_dart::RobotDARTSimu::_old_index;

variable _physics_freq¶

int robot_dart::RobotDARTSimu::_physics_freq;

variable _robots¶

std::vector<robot_t> robot_dart::RobotDARTSimu::_robots;

variable _scheduler¶

Scheduler robot_dart::RobotDARTSimu::_scheduler;

variable _sensors¶

std::vector<std::shared_ptr<sensor::Sensor> > robot_dart::RobotDARTSimu::_sensors;

variable _status_bar¶

std::shared_ptr<simu::TextData> robot_dart::RobotDARTSimu::_status_bar;

variable _text_panel¶

std::shared_ptr<simu::TextData> robot_dart::RobotDARTSimu::_text_panel;

variable _world¶

dart::simulation::WorldPtr robot_dart::RobotDARTSimu::_world;

Protected Functions Documentation¶

function _enable¶

void robot_dart::RobotDARTSimu::_enable (
    std::shared_ptr< simu::TextData > & text,
    bool enable,
    double font_size
)

The documentation for this class was generated from the following file robot_dart/robot_dart_simu.hpp