Generic simulation program. More...
#include <SimulationGUI.h>
Inheritance diagram for SimGUIBackend:
Public Types | |
| typedef GLNavigationBackend | BaseT |
 Public Types inherited from GLNavigationBackend | |
| typedef MouseDragBackend | BaseT |
Public Member Functions | |
| SimGUIBackend (RobotWorld *world) | |
| virtual bool | OnCommand (const string &cmd, const string &args) |
| bool | LoadAndInitSim (const char *xmlFile) |
| Loads from a world XML file. | |
| bool | LoadAndInitSim (int argc, const char **argv) |
| Loads from a command line. | |
| bool | LoadFile (const char *fn) |
| Loads some file, figuring out the type from the extension. | |
| bool | LoadPath (const char *fn) |
| Loads some file, figuring out the type from the extension. | |
| virtual void | InitSim () |
| Initializes simulation default controllers, sensors, and contact feedback. | |
| virtual void | InitController (int robot) |
| Initializes default controllers and sensors for the indicated robot. | |
| virtual void | InitContactFeedbackAll () |
| Initializes all contact feedback. | |
| void | ConnectSerialController (int robot, int port=3456, Real writeRate=10) |
| Connects a robot to a SerialController listening for new connections on the given port. | |
| void | ResetSim () |
| Returns the simulation to its initial state. | |
| virtual void | RenderWorld () |
| Renders the state of the simulation. | |
| void | SetForceColors () |
| Sets the colors of robots to indicate force magnitudes. | |
| void | SetTorqueColors () |
| Sets the colors of robots to indicate torque magnitudes. | |
| void | DrawClock (int x, int y) |
| Renders the simulation clock (when in screen mode) | |
| void | DrawSensor (int robot=-1, int sensor=-1) |
| void | DrawContacts (Real pointSize=5.0, Real fscale=0.01, Real nscale=0.05) |
| Draws contact points. | |
| void | DrawWrenches (Real fscale=-1) |
| Draws wrenches. | |
| bool | LoadMilestones (const char *fn) |
| Loads and sends a milestone path file. | |
| bool | LoadLinearPath (const char *fn) |
| Loads and sends a linear path file. | |
| bool | LoadState (const char *fn) |
| Loads a simulation state file. | |
| bool | LoadMultiPath (const char *fn, bool constrainedInterpolate=true, Real interpolateTolerance=1e-2, Real durationScale=1.0) |
| Loads a multipath file and possibly discretizes it into a fine-grained linear path before sending. | |
| bool | SendLinearPath (const vector< Real > ×, const vector< Config > &milestones, Real pathDelay=0.1) |
| bool | OutputROS (const char *prefix="klampt") |
| Outputs simulation data to ROS with the given prefix. | |
| void | DoLogging (const char *fn="simtest_log.csv") |
| Logs the state of all objects in the world to the given CSV file. | |
| void | DoCommandLogging_LinearPath (int robot, const char *fn="simtest_command_log.path") |
| Logs the robot's commands to the given linear path file. | |
| void | DoSensorLogging_LinearPath (int robot, const char *fn="simtest_sensed_log.path") |
| Logs the robot's sensed configuration to the given linear path file. | |
| void | DoStateLogging_LinearPath (int robot, const char *fn="simtest_state_log.path") |
| Logs the robot's simulation state to the given linear path file. | |
| void | DoContactStateLogging (const char *fn="simtest_contact_log.csv") |
| Logs contact changes to the given CSV file. | |
| void | DoContactWrenchLogging (const char *fn="simtest_wrench_log.csv") |
| Logs contact wrenches to the given CSV file. | |
| Public Member Functions inherited from WorldGUIBackend | |
| WorldGUIBackend (RobotWorld *world) | |
| bool | LoadCommandLine (int argc, const char **argv) |
| bool | LoadFile (const char *fn) |
| bool | ReloadFile (const char *fn) |
| bool | SaveWorld (const char *fn, const char *elementPath=NULL) |
| virtual void | Start () |
| Default implementation of following do nothing. | |
| virtual bool | OnIdle () |
| virtual void | SetWorldLights () |
| Robot * | ClickRobot (int x, int y, int &body, Vector3 &localpt) const |
| Robot * | ClickRobot (const Ray3D &r, int &body, Vector3 &localpt) const |
| RigidObject * | ClickObject (int x, int y, Vector3 &localpt) const |
| RigidObject * | ClickObject (const Ray3D &r, Vector3 &localpt) const |
| virtual void | RefreshIdle () |
| virtual void | DoFreeDrag (int dx, int dy, int button) |
| Overload this for regular (non-modified) dragging. | |
| virtual void | DoCtrlDrag (int dx, int dy, int button) |
| Overload this for control-dragging. | |
| virtual void | DoAltDrag (int dx, int dy, int button) |
| Overload this for alt-dragging. | |
| virtual void | DoShiftDrag (int dx, int dy, int button) |
| Overload this for shift-dragging. | |
| virtual bool | OnMouseWheel (int dwheel) |
| Public Member Functions inherited from GLNavigationBackend | |
| virtual void | RenderScreen () |
| virtual bool | OnGLRender () |
| virtual bool | OnGLViewport (int x, int y, int w, int h) |
| virtual void | BeginDrag (int x, int y, int button, int modifiers) |
| void | DragPan (int dx, int dy) |
| void | DragRotate (int dx, int dy) |
| void | DragZoom (int dx, int dy) |
| void | DragTruck (int dx, int dy) |
| void | Set2DMode (bool mode=true) |
| void | DisplayCameraTarget () |
| void | CenterCameraOn (const Math3D::AABB3D &bbox) |
| void | ClickRay (int x, int y, Math3D::Vector3 &src, Math3D::Vector3 &dir) const |
| void | WriteDisplaySettings (std::ostream &out) const |
| void | ReadDisplaySettings (std::istream &in) |
| Public Member Functions inherited from MouseDragBackend | |
| virtual bool | OnMouseClick (int button, int state, int mx, int my) |
| virtual bool | OnMouseMove (int mx, int my) |
| virtual bool | OnKeyDown (const string &key) |
| virtual bool | OnKeyUp (const string &key) |
| virtual void | DoDrag (int dx, int dy, int button, int modifiers) |
| virtual void | EndDrag (int x, int y, int button, int modifiers) |
| virtual void | DoPassiveMouseMove (int x, int y) |
| Overload this to handle plain, non-dragging mouse motion events. | |
| Public Member Functions inherited from GenericBackendBase | |
| virtual void | Stop () |
| virtual bool | ProcessMessage (const AnyCollection &msg) |
| virtual bool | SendMessage (const AnyCollection &msg) |
| Send a message to the gui. | |
| void | MapButtonPress (const string &button, int *var) |
| void | MapButtonToggle (const string &button, int *var) |
| void | MapWidgetValue (const string &button, string *var) |
| void | MapKeyToggle (const string &key, int *var) |
| virtual bool | OnButtonPress (const string &button) |
| virtual bool | OnButtonToggle (const string &button, int checked) |
| virtual bool | OnWidgetValue (const string &widget, const string &value) |
| virtual bool | OnScroll (int dy) |
| virtual bool | OnSpaceball (const Math3D::RigidTransform &T) |
| virtual bool | OnDevice (const string &name, const string &data) |
| bool | SendQuit () |
| bool | SendCommand (const string &cmd, const string &args) |
| bool | SendNotify (const string &text, const string &msglevel="") |
| bool | SendError (const string &text) |
| bool | SendWarning (const string &text) |
| bool | SendPauseIdle (double secs=1e300) |
| bool | SendRefresh () |
| bool | SendResize (int w, int h) |
| bool | SendDrawText (double x, double y, double z, const std::string &text, int height=10) |
| bool | SendDrawText (int x, int y, const std::string &text, int height=10) |
Public Attributes | |
| int | simulate |
| WorldSimulation | sim |
| string | initialState |
| set< pair< int, int > > | inContact |
| the contact state on the last DoContactStateLogging call | |
| Public Attributes inherited from WorldGUIBackend | |
| RobotWorld * | world |
| Public Attributes inherited from GLNavigationBackend | |
| Camera::Viewport | viewport |
| Camera::CameraController_Orbit | camera |
| bool | stereo_mode |
| float | stereo_offset |
| Timer | timer |
| int | show_view_target |
| float | t_hide_view_target |
| float | frames_per_second |
| bool | show_frames_per_second |
| int | frames_rendered |
| bool | mode_2d |
| Public Attributes inherited from MouseDragBackend | |
| int | oldmousex |
| int | oldmousey |
| int | clickButton |
| int | clickModifiers |
| Public Attributes inherited from GenericBackendBase | |
| GenericGUIBase * | gui |
| map< string, int * > | liveButtonPresses |
| map< string, int * > | liveButtonToggles |
| map< string, string * > | liveWidgetValues |
| map< string, int * > | liveKeys |
Detailed Description
Generic simulation program.
To set up the world and simulation from a command line, call LoadAndInitSim(). To set up the simulation from a world, just InitSim(). To change the default controller, override the InitController(int i) method.
Messages are defined as follows.
command:
- simulate(active): turns simulation on or off
- toggle_simulate(): toggles simulation activity value
- reset(): resets the simulation
- load_file(file): loads an entity (object,robot,mesh,path,state) into the simulation.
- load_path(file): loads a path (.path,.xml,.milestones).
- load_state(file): loads a simulation state from file
- save_state(file): saves a simulation state to file
- load_view(file): loads a previously saved view (inherited from GLNavigationProgram)
- save_view(file): saves a view to a file (inherited from GLNavigationProgram)
- connect_serial_controller(robot,port,rate): connects a robot (index) to a SerialController on the given port (listens for open TCP connections on localhost:port). The controller will write at the indicated rate (in Hz).
- output_ros([prefix]): outputs the simulation information to ROS with the given prefix under the tf module, and the robot's commanded / sensed JointState under [prefix]/[robot name]/commanded_joint_state / sensed_joint_state.
In the current format, elements in the world should not be added/deleted after initialization.
Member Function Documentation
| void SimGUIBackend::DrawSensor | ( | int | robot = -1, |
| int | sensor = -1 |
||
| ) |
Draws sensor readings on the world visualization. If robot < 0, draws all the robots/sensors. If sensor < 0, draws all the sensors on the given robot.
| bool SimGUIBackend::SendLinearPath | ( | const vector< Real > & | times, |
| const vector< Config > & | milestones, | ||
| Real | pathDelay = 0.1 |
||
| ) |
Sends a linear path to the controller. The path starts pathDelay seconds after the current time
The documentation for this class was generated from the following file:
