Simulation Class Reference

Public Member Functions
Simulation Interface
void	Initialize ()
	Set up the simulation.
void	Uninitialize ()
	Tear down the simulation.
void	SimulationStep ()
	Advance the simulation one timestep.
void	EditStep ()
	Update the drawable transforms to match those in the MPProblem.
Rendering Interface
virtual void	render () override
virtual void	start () override
virtual void	reset () override
void	SetBacklog (const size_t _max)
Additional Visualization
size_t	AddPath (const std::vector< Cfg > &_path, const glutils::color &_c)
void	RemovePath (const size_t _id)
size_t	AddRoadmap (RoadmapGraph< Cfg, DefaultWeight< Cfg > > *_graph, const glutils::color &_c)
void	RemoveRoadmap (const size_t _id)
size_t	AddBoundary (const Boundary *const _boundary, const glutils::color &_c, const bool _wired=true)
void	RemoveBoundary (const size_t _id)
void	TransformBoundary (const size_t _id, const glutils::transform &_t)
size_t	AddWorkspaceSkeleton (WorkspaceSkeleton *const _skeleton, const glutils::color &_c)
Editing
void	RebuildMultiBody (DrawableMultiBody *const _m)

Static Public Member Functions
Accessors
static Simulation *	Get () noexcept
	Get the singleton.
static size_t	NearestNumSteps (const double _dt) noexcept
static size_t	GetTimestamp () noexcept

Construction
static void	Create (MPProblem *_problem, const bool _edit=false)
virtual	~Simulation ()

Performance Measurement
static StatClass *	GetStatClass () noexcept
	Get the simulator's stat class for time profiling.
void	PrintStatFile (const std::string &_basename="")

Detailed Description

Simulate an MPProblem using the bullet physics engine. Rendering is performed by the base_visualization parent class.

Note

This is a singleton object; there can only be one instance.

Member Function Documentation

Create()

void Simulation::Create ( MPProblem *  _problem, const bool  _edit = false  )

static

Create the singleton.

Parameters

_problem	The MPProblem to simulate.
_edit	Start in edit mode instead of the physical simulator?

NearestNumSteps()

size_t Simulation::NearestNumSteps ( const double  _dt )

staticnoexcept

Get the nearest number of timesteps needed to represent a continuous time interval.

Parameters

_dt	The time interval.

Returns

The number of steps needed to represent _dt.

GetTimestamp()

size_t Simulation::GetTimestamp ( )

staticnoexcept

Get the current timestamp.

Returns

The number of steps taken so far.

SetBacklog()

void Simulation::SetBacklog

(

const size_t

_max

)

Set the maximum number of frames that the simulator can pre-compute.

Parameters

_max	The maximum number of backlogged frames to compute.

AddPath()

size_t Simulation::AddPath	(	const std::vector< Cfg > &	_path,
		const glutils::color &	_c
	)

Add a path graphic to the scene as a sequence of connected line segments.

Parameters

_path	The path to render.
_c	The line color.

Returns

The ID of the path.

RemovePath()

void Simulation::RemovePath

(

const size_t

_id

)

Remove a path graphic from the scene.

Parameters

_id	The path ID.

AddRoadmap()

size_t Simulation::AddRoadmap	(	RoadmapGraph< Cfg, DefaultWeight< Cfg > > *	_graph,
		const glutils::color &	_c
	)

Add a roadmap graphic to the scene.

Parameters

_graph	the graph to rendered
_c	The line color.

Returns

The ID of the path.

RemoveRoadmap()

void Simulation::RemoveRoadmap

(

const size_t

_id

)

Remove a roadmap graphic from the scene.

Parameters

_id	The path ID.

AddBoundary()

size_t Simulation::AddBoundary	(	const Boundary *const	_boundary,
		const glutils::color &	_c,
		const bool	_wired = true
	)

Add a boundary graphic to the scene.

Parameters

_boundary	The boundary to be rendered
_c	The rendering color.
_wired	Render in wireframe if true, solid if false.

Returns

The ID of the boundary

RemoveBoundary()

void Simulation::RemoveBoundary

(

const size_t

_id

)

Remove a boundary graphic from the scene.

Parameters

_id	The boundary ID.

TransformBoundary()

void Simulation::TransformBoundary	(	const size_t	_id,
		const glutils::transform &	_t
	)

Update a boundary graphic.

Parameters

_id	The boundary ID.
_t	The transformation to apply.

AddWorkspaceSkeleton()

size_t Simulation::AddWorkspaceSkeleton	(	WorkspaceSkeleton *const	_skeleton,
		const glutils::color &	_c
	)

Add a workspace skeleton rendering to to the scene.

Parameters

_skeleton	The workspace skeleton.
_c	The rendering color.

Returns

The skeleton rendering's ID.

RebuildMultiBody()

void Simulation::RebuildMultiBody

(

DrawableMultiBody *const

_m

)

Rebuild the physics engine's model for a given multibody.

Parameters

_m	The drawable multibody to rebuild. @WARNING The simulation will lock while you do this!

PrintStatFile()

void Simulation::PrintStatFile

(

const std::string &

_basename = ""

)

Print the simulator's stats to an output file.

Parameters

_basename

The base name for the output file, or empty to use the MPProblem base name.

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The documentation for this class was generated from the following files:

• Simulation.h
• Simulation.cpp