List of all members | Classes | Public Member Functions | Protected Member Functions | Protected Attributes
BulletPhysicsWorld Class Reference

The BulletPhysicsWorld class encapsulates the whole physics simulation and the corresponding data. More...

#include <ArmarXSimulation/components/Simulator/BulletPhysicsWorld.h>

+ Inheritance diagram for BulletPhysicsWorld:

Classes

struct  DynamicsRobotInfo
 

Public Member Functions

void activateObject (const std::string &objectName) override
 
void actuateRobotJoints (const std::string &robotName, const std::map< std::string, float > &angles, const std::map< std::string, float > &velocities) override
 
void actuateRobotJointsPos (const std::string &robotName, const std::map< std::string, float > &angles) override
 
void actuateRobotJointsTorque (const std::string &robotName, const std::map< std::string, float > &torques) override
 
void actuateRobotJointsVel (const std::string &robotName, const std::map< std::string, float > &velocities) override
 
VirtualRobot::RobotPtr adaptRobotToWorld (VirtualRobot::RobotPtr robot) override
 
void applyForceObject (const std::string &objectName, const Eigen::Vector3f &force) override
 
void applyForceRobotNode (const std::string &robotName, const std::string &robotNodeName, const Eigen::Vector3f &force) override
 
void applyTorqueObject (const std::string &objectName, const Eigen::Vector3f &torque) override
 
void applyTorqueRobotNode (const std::string &robotName, const std::string &robotNodeName, const Eigen::Vector3f &torque) override
 
 BulletPhysicsWorld ()
 
std::vector< SimDynamics::DynamicsEngine::DynamicsContactInfo > copyContacts () override
 
void enableLogging (const std::string &robotName, const std::string &logFile) override
 
int getContactCount () override
 
armarx::DistanceInfo getDistance (const std::string &robotName, const std::string &robotNodeName, const std::string &worldObjectName) override
 
std::vector< SimDynamics::DynamicsObjectPtr > getDynamicObjects ()
 
virtual SimDynamics::DynamicsRobotPtr getDynamicRobot (const std::string &robotName)
 
SimDynamics::DynamicsObjectPtr getDynamicsObject (const std::string &objectName)
 
SimDynamics::BulletEnginePtr getEngine ()
 
int getFixedTimeStepMS () override
 
SimDynamics::DynamicsObjectPtr getObject (const std::string &objectName)
 
Eigen::Matrix4f getObjectPose (const std::string &objectName) override
 
std::vector< VirtualRobot::SceneObjectPtr > getObjects () override
 
std::vector< std::string > getObstacleNames () override
 
VirtualRobot::RobotPtr getRobot (const std::string &robotName) override
 
Eigen::Vector3f getRobotAngularVelocity (const std::string &robotName, const std::string &nodeName) override
 
ForceTorqueDataSeq getRobotForceTorqueSensors (const std::string &robotName) override
 
float getRobotJointAngle (const std::string &robotName, const std::string &nodeName) override
 
std::map< std::string, float > getRobotJointAngles (const std::string &robotName) override
 
float getRobotJointLimitHi (const std::string &robotName, const std::string &nodeName) override
 
float getRobotJointLimitLo (const std::string &robotName, const std::string &nodeName) override
 
std::map< std::string, float > getRobotJointTorques (const std::string &robotName) override
 
std::map< std::string, float > getRobotJointVelocities (const std::string &robotName) override
 
float getRobotJointVelocity (const std::string &robotName, const std::string &nodeName) override
 
Eigen::Vector3f getRobotLinearVelocity (const std::string &robotName, const std::string &nodeName) override
 
float getRobotMass (const std::string &robotName) override
 
float getRobotMaxTorque (const std::string &robotName, const std::string &nodeName) override
 
std::vector< std::string > getRobotNames () override
 
armarx::DistanceInfo getRobotNodeDistance (const std::string &robotName, const std::string &robotNodeName1, const std::string &robotNodeName2) override
 
Eigen::Matrix4f getRobotNodePose (const std::string &robotName, const std::string &robotNodeName) override
 
Eigen::Matrix4f getRobotPose (const std::string &robotName) override
 
std::map< std::string, VirtualRobot::RobotPtr > getRobots () override
 
bool hasObject (const std::string &instanceName) override
 
bool hasRobot (const std::string &robotName) override
 
bool hasRobotNode (const std::string &robotName, const std::string &robotNodeName) override
 
virtual void initialize (int stepSizeMS, int bulletFixedTimeStepMS, int bulletFixedTimeStepMaxNrLoops, float maxRealTimeSimSpeed=1, bool floorPlane=false, std::string floorTexture=std::string())
 
void setObjectPose (const std::string &objectName, const Eigen::Matrix4f &globalPose) override
 
void setObjectSimType (const std::string &objectName, VirtualRobot::SceneObject::Physics::SimulationType simType) override
 
void setRobotAngularVelocity (const std::string &robotName, const std::string &robotNodeName, const Eigen::Vector3f &vel) override
 
void setRobotAngularVelocityRobotRootFrame (const std::string &robotName, const std::string &robotNodeName, const Eigen::Vector3f &vel) override
 
void setRobotLinearVelocity (const std::string &robotName, const std::string &robotNodeName, const Eigen::Vector3f &vel) override
 
void setRobotLinearVelocityRobotRootFrame (const std::string &robotName, const std::string &robotNodeName, const Eigen::Vector3f &vel) override
 
void setRobotMaxTorque (const std::string &robotName, const std::string &nodeName, float maxTorque) override
 
void setRobotNodeSimType (const std::string &robotName, const std::string &robotNodeName, VirtualRobot::SceneObject::Physics::SimulationType simType) override
 
void setRobotPose (const std::string &robotName, const Eigen::Matrix4f &globalPose) override
 
void stepPhysicsFixedTimeStep () override
 Perform one simulation step. More...
 
void stepPhysicsRealTime () override
 Perform one simulation step. More...
 
FramedPosePtr toFramedPose (const Eigen::Matrix4f &globalPose, const std::string &robotName, const std::string &frameName) override
 toFramedPose Constructs a framed pose More...
 
 ~BulletPhysicsWorld () override
 
- Public Member Functions inherited from SimulatedWorld
virtual bool addObstacle (const std::string &filename, const Eigen::Matrix4f &pose=Eigen::Matrix4f::Identity(), VirtualRobot::SceneObject::Physics::SimulationType simType=VirtualRobot::SceneObject::Physics::eUnknown, const std::string &localFilename="")
 Load and add an Obstacle (VirtualRobot xml file). More...
 
virtual bool addObstacle (VirtualRobot::SceneObjectPtr o, VirtualRobot::SceneObject::Physics::SimulationType simType=VirtualRobot::SceneObject::Physics::eUnknown, const std::string &filename="", const std::string &objectClassName="", ObjectVisuPrimitivePtr primitiveData={}, const std::string &project="")
 
virtual bool addRobot (std::string &robotInstanceName, const std::string &filename, Eigen::Matrix4f pose=Eigen::Matrix4f::Identity(), const std::string &filenameLocal="", double pid_p=10.0, double pid_i=0, double pid_d=0, bool staticRobot=false, float scaling=1.0f, bool colModel=false, const std::map< std::string, float > &initConfig={}, bool selfCollisions=false)
 Load and add a robot. More...
 
virtual bool addRobot (VirtualRobot::RobotPtr robot, double pid_p, double pid_i, double pid_d, const std::string &filename, bool staticRobot=false, float scaling=1.0f, bool colModel=false, bool selfCollisions=false)
 
virtual bool addScene (const std::string &filename, VirtualRobot::SceneObject::Physics::SimulationType simType=VirtualRobot::SceneObject::Physics::eUnknown)
 Load and add an Scene (VirtualRobot xml file). More...
 
virtual bool addScene (VirtualRobot::ScenePtr scene, VirtualRobot::SceneObject::Physics::SimulationType simType=VirtualRobot::SceneObject::Physics::eUnknown)
 
virtual SimulatedWorldData copyReportData ()
 
virtual SceneVisuData copySceneVisuData ()
 copySceneVisuData Creates a copy of the visualization data More...
 
virtual double getCurrentSimTime ()
 
virtual int getObjectCount ()
 
virtual SimulatedWorldData & getReportData ()
 
virtual int getRobotJointAngleCount ()
 
virtual ScopedRecursiveLockPtr getScopedEngineLock (const std::string &callStr)
 
virtual ScopedRecursiveLockPtr getScopedSyncLock (const std::string &callStr)
 
virtual float getSimTime ()
 
virtual float getSimulationStepDuration ()
 getSimulationStepDuration More...
 
virtual float getSimulationStepTimeMeasured ()
 getSimulationStepTimeMeasured More...
 
virtual float getSyncEngineTime ()
 
virtual void objectGrasped (const std::string &robotName, const std::string &robotNodeName, const std::string &objectName)
 create a joint More...
 
virtual void objectReleased (const std::string &robotName, const std::string &robotNodeName, const std::string &objectName)
 remove a joint More...
 
virtual bool removeObstacle (const std::string &name)
 
virtual bool removeObstacles ()
 
virtual bool removeRobot (const std::string &robotName)
 
virtual bool removeRobots ()
 
virtual bool resetData ()
 resetData Clears all data More...
 
virtual void resetSimTime ()
 
virtual void setupFloor (bool enable, const std::string &floorTexture)
 
 SimulatedWorld ()
 
virtual bool synchronizeSimulationData ()
 synchronizeSimulationData Update the sim data according to the internal physics models. More...
 
virtual void updateContacts (bool enable)
 
virtual ~SimulatedWorld () override=default
 
- Public Member Functions inherited from Logging
SpamFilterDataPtr deactivateSpam (float deactivationDurationSec=10.0f, const std::string &identifier="", bool deactivate=true) const
 disables the logging for the current line for the given amount of seconds. More...
 
MessageTypeT getEffectiveLoggingLevel () const
 
 Logging ()
 
void setLocalMinimumLoggingLevel (MessageTypeT level)
 With setLocalMinimumLoggingLevel the minimum verbosity-level of log-messages can be set. More...
 
void setTag (const LogTag &tag)
 
void setTag (const std::string &tagName)
 
virtual ~Logging ()
 

Protected Member Functions

bool addObstacleEngine (VirtualRobot::SceneObjectPtr o, VirtualRobot::SceneObject::Physics::SimulationType simType) override
 
bool addRobotEngine (VirtualRobot::RobotPtr robot, double pid_p, double pid_i, double pid_d, const std::string &filename, bool staticRobot, bool selfCollisions) override
 
btScalar getDeltaTimeMicroseconds ()
 
SimDynamics::DynamicsObjectPtr getFirstDynamicsObject (const std::string &robotName, const std::string &nodeName)
 
VirtualRobot::SceneObjectPtr getFloor () override
 
bool getRobotStatus (const std::string &robotName, NameValueMap &jointAngles, NameValueMap &jointVelocities, NameValueMap &jointTorques, Eigen::Vector3f &linearVelocity, Eigen::Vector3f &angularVelocity) override
 
bool objectGraspedEngine (const std::string &robotName, const std::string &robotNodeName, const std::string &objectName, Eigen::Matrix4f &storeLocalTransform) override
 create a joint More...
 
bool objectReleasedEngine (const std::string &robotName, const std::string &robotNodeName, const std::string &objectName) override
 remove a joint More...
 
bool removeObstacleEngine (const std::string &name) override
 
bool removeRobotEngine (const std::string &robotName) override
 
void setupFloorEngine (bool enable, const std::string &floorTexture) override
 
void stepStaticRobots (double deltaInSeconds)
 
bool synchronizeObjects () override
 
bool synchronizeRobotNodePoses (const std::string &robotName, std::map< std::string, armarx::PoseBasePtr > &objMap) override
 
bool synchronizeSceneObjectPoses (VirtualRobot::SceneObjectPtr currentObjEngine, std::map< std::string, armarx::PoseBasePtr > &objMap) override
 
bool synchronizeSimulationDataEngine () override
 
bool updateForceTorqueSensor (ForceTorqueInfo &ftInfo) override
 
- Protected Member Functions inherited from SimulatedWorld
virtual bool synchronizeRobots ()
 
- Protected Member Functions inherited from Logging
bool checkLogLevel (MessageTypeT level) const
 
const LogSenderPtr & getLogSender () const
 Retrieve log sender. More...
 
LogSenderPtr loghelper (const char *file, int line, const char *function) const
 

Protected Attributes

SimDynamics::BulletEnginePtr bulletEngine
 
int bulletFixedTimeStepMaxNrLoops
 
int bulletFixedTimeStepMS
 
std::vector< SimDynamics::DynamicsEngine::DynamicsContactInfo > contacts
 
std::map< std::string, DynamicsRobotInfo > dynamicRobots
 
std::vector< SimDynamics::DynamicsObjectPtr > dynamicsObjects
 
SimDynamics::DynamicsWorldPtr dynamicsWorld
 
btClock m_clock
 
SimDynamics::BulletRobotLoggerPtr robotLogger
 
int stepSizeMs
 
- Protected Attributes inherited from SimulatedWorld
std::vector< GraspingInfo > attachedObjects
 
bool collectContacts
 
double currentSimTimeSec = 0.0
 
double currentSyncTimeSec = 0.0
 
std::map< std::string, int > engineMtxAccCalls
 
std::map< std::string, float > engineMtxAccTime
 
std::map< std::string, IceUtil::Time > engineMtxLastTime
 
MutexPtrType engineMutex
 
float maxRealTimeSimSpeed = 1
 
SimulatedWorldData simReportData
 
float simStepExecutionDurationMS
 
float simTimeStepMS
 
SceneVisuData simVisuData
 
float synchronizeDurationMS
 
MutexPtrType synchronizeMutex
 
std::map< std::string, int > syncMtxAccCalls
 
std::map< std::string, float > syncMtxAccTime
 
std::map< std::string, IceUtil::Time > syncMtxLastTime
 
- Protected Attributes inherited from Logging
MessageTypeT minimumLoggingLevel
 
SpamFilterDataPtr spamFilter
 
LogTag tag
 

Additional Inherited Members

- Public Types inherited from SimulatedWorld
using MutexPtrType = typename argType< setMutexFunc >::type
 
using MutexType = MutexPtrType::element_type
 
using ScopedRecursiveLock = std::scoped_lock< MutexType >
 
using ScopedRecursiveLockPtr = std::shared_ptr< ScopedRecursiveLock >
 
using setMutexFunc = decltype(&SimDynamics::DynamicsEngine::setMutex)
 

Detailed Description

The BulletPhysicsWorld class encapsulates the whole physics simulation and the corresponding data.

Definition at line 54 of file BulletPhysicsWorld.h.

Constructor & Destructor Documentation

◆ BulletPhysicsWorld()

BulletPhysicsWorld ( )

Definition at line 45 of file BulletPhysicsWorld.cpp.

◆ ~BulletPhysicsWorld()

~BulletPhysicsWorld ( )
override

Definition at line 52 of file BulletPhysicsWorld.cpp.

Member Function Documentation

◆ activateObject()

void activateObject ( const std::string &  objectName)
overridevirtual

Reimplemented from SimulatedWorld.

Definition at line 484 of file BulletPhysicsWorld.cpp.

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◆ actuateRobotJoints()

void actuateRobotJoints ( const std::string &  robotName,
const std::map< std::string, float > &  angles,
const std::map< std::string, float > &  velocities 
)
overridevirtual

Implements SimulatedWorld.

Definition at line 93 of file BulletPhysicsWorld.cpp.

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◆ actuateRobotJointsPos()

void actuateRobotJointsPos ( const std::string &  robotName,
const std::map< std::string, float > &  angles 
)
overridevirtual

Implements SimulatedWorld.

Definition at line 168 of file BulletPhysicsWorld.cpp.

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◆ actuateRobotJointsTorque()

void actuateRobotJointsTorque ( const std::string &  robotName,
const std::map< std::string, float > &  torques 
)
overridevirtual

Implements SimulatedWorld.

Definition at line 292 of file BulletPhysicsWorld.cpp.

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◆ actuateRobotJointsVel()

void actuateRobotJointsVel ( const std::string &  robotName,
const std::map< std::string, float > &  velocities 
)
overridevirtual

Implements SimulatedWorld.

Definition at line 240 of file BulletPhysicsWorld.cpp.

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◆ adaptRobotToWorld()

RobotPtr adaptRobotToWorld ( VirtualRobot::RobotPtr  robot)
overridevirtual

Reimplemented from SimulatedWorld.

Definition at line 2128 of file BulletPhysicsWorld.cpp.

◆ addObstacleEngine()

bool addObstacleEngine ( VirtualRobot::SceneObjectPtr  o,
VirtualRobot::SceneObject::Physics::SimulationType  simType 
)
overrideprotectedvirtual

Implements SimulatedWorld.

Definition at line 1678 of file BulletPhysicsWorld.cpp.

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◆ addRobotEngine()

bool addRobotEngine ( VirtualRobot::RobotPtr  robot,
double  pid_p,
double  pid_i,
double  pid_d,
const std::string &  filename,
bool  staticRobot,
bool  selfCollisions 
)
overrideprotectedvirtual

Implements SimulatedWorld.

Definition at line 1381 of file BulletPhysicsWorld.cpp.

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◆ applyForceObject()

void applyForceObject ( const std::string &  objectName,
const Eigen::Vector3f &  force 
)
overridevirtual

Implements SimulatedWorld.

Definition at line 418 of file BulletPhysicsWorld.cpp.

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◆ applyForceRobotNode()

void applyForceRobotNode ( const std::string &  robotName,
const std::string &  robotNodeName,
const Eigen::Vector3f &  force 
)
overridevirtual

Implements SimulatedWorld.

Definition at line 355 of file BulletPhysicsWorld.cpp.

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◆ applyTorqueObject()

void applyTorqueObject ( const std::string &  objectName,
const Eigen::Vector3f &  torque 
)
overridevirtual

Implements SimulatedWorld.

Definition at line 432 of file BulletPhysicsWorld.cpp.

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◆ applyTorqueRobotNode()

void applyTorqueRobotNode ( const std::string &  robotName,
const std::string &  robotNodeName,
const Eigen::Vector3f &  torque 
)
overridevirtual

Implements SimulatedWorld.

Definition at line 386 of file BulletPhysicsWorld.cpp.

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◆ copyContacts()

std::vector< DynamicsEngine::DynamicsContactInfo > copyContacts ( )
overridevirtual

Implements SimulatedWorld.

Definition at line 1672 of file BulletPhysicsWorld.cpp.

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◆ enableLogging()

void enableLogging ( const std::string &  robotName,
const std::string &  logFile 
)
overridevirtual

Reimplemented from SimulatedWorld.

Definition at line 1958 of file BulletPhysicsWorld.cpp.

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◆ getContactCount()

int getContactCount ( )
overridevirtual

Reimplemented from SimulatedWorld.

Definition at line 2051 of file BulletPhysicsWorld.cpp.

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◆ getDeltaTimeMicroseconds()

btScalar getDeltaTimeMicroseconds ( )
protected

Definition at line 2042 of file BulletPhysicsWorld.cpp.

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◆ getDistance()

DistanceInfo getDistance ( const std::string &  robotName,
const std::string &  robotNodeName,
const std::string &  worldObjectName 
)
overridevirtual

Implements SimulatedWorld.

Definition at line 2093 of file BulletPhysicsWorld.cpp.

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◆ getDynamicObjects()

std::vector< SimDynamics::DynamicsObjectPtr > getDynamicObjects ( )

Definition at line 1934 of file BulletPhysicsWorld.cpp.

◆ getDynamicRobot()

SimDynamics::DynamicsRobotPtr getDynamicRobot ( const std::string &  robotName)
virtual

Definition at line 1214 of file BulletPhysicsWorld.cpp.

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◆ getDynamicsObject()

SimDynamics::DynamicsObjectPtr getDynamicsObject ( const std::string &  objectName)

Definition at line 1226 of file BulletPhysicsWorld.cpp.

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◆ getEngine()

SimDynamics::BulletEnginePtr getEngine ( )

Definition at line 1918 of file BulletPhysicsWorld.cpp.

◆ getFirstDynamicsObject()

SimDynamics::DynamicsObjectPtr getFirstDynamicsObject ( const std::string &  robotName,
const std::string &  nodeName 
)
protected

Definition at line 941 of file BulletPhysicsWorld.cpp.

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◆ getFixedTimeStepMS()

int getFixedTimeStepMS ( )
overridevirtual
Returns
The number of steps * the timestep in MS

Implements SimulatedWorld.

Definition at line 1912 of file BulletPhysicsWorld.cpp.

◆ getFloor()

SceneObjectPtr getFloor ( )
overrideprotectedvirtual

Implements SimulatedWorld.

Definition at line 1341 of file BulletPhysicsWorld.cpp.

◆ getObject()

SimDynamics::DynamicsObjectPtr getObject ( const std::string &  objectName)

Definition at line 447 of file BulletPhysicsWorld.cpp.

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◆ getObjectPose()

Eigen::Matrix4f getObjectPose ( const std::string &  objectName)
overridevirtual

Implements SimulatedWorld.

Definition at line 1243 of file BulletPhysicsWorld.cpp.

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◆ getObjects()

std::vector< VirtualRobot::SceneObjectPtr > getObjects ( )
overridevirtual

Implements SimulatedWorld.

Definition at line 1924 of file BulletPhysicsWorld.cpp.

◆ getObstacleNames()

std::vector< std::string > getObstacleNames ( )
overridevirtual

Implements SimulatedWorld.

Definition at line 1760 of file BulletPhysicsWorld.cpp.

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◆ getRobot()

VirtualRobot::RobotPtr getRobot ( const std::string &  robotName)
overridevirtual

Implements SimulatedWorld.

Definition at line 1190 of file BulletPhysicsWorld.cpp.

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◆ getRobotAngularVelocity()

Eigen::Vector3f getRobotAngularVelocity ( const std::string &  robotName,
const std::string &  nodeName 
)
overridevirtual

Implements SimulatedWorld.

Definition at line 993 of file BulletPhysicsWorld.cpp.

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◆ getRobotForceTorqueSensors()

ForceTorqueDataSeq getRobotForceTorqueSensors ( const std::string &  robotName)
overridevirtual

Implements SimulatedWorld.

Definition at line 696 of file BulletPhysicsWorld.cpp.

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◆ getRobotJointAngle()

float getRobotJointAngle ( const std::string &  robotName,
const std::string &  nodeName 
)
overridevirtual

Implements SimulatedWorld.

Definition at line 560 of file BulletPhysicsWorld.cpp.

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◆ getRobotJointAngles()

std::map< std::string, float > getRobotJointAngles ( const std::string &  robotName)
overridevirtual

Implements SimulatedWorld.

Definition at line 525 of file BulletPhysicsWorld.cpp.

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◆ getRobotJointLimitHi()

float getRobotJointLimitHi ( const std::string &  robotName,
const std::string &  nodeName 
)
overridevirtual

Implements SimulatedWorld.

Definition at line 769 of file BulletPhysicsWorld.cpp.

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◆ getRobotJointLimitLo()

float getRobotJointLimitLo ( const std::string &  robotName,
const std::string &  nodeName 
)
overridevirtual

Implements SimulatedWorld.

Definition at line 741 of file BulletPhysicsWorld.cpp.

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◆ getRobotJointTorques()

std::map< std::string, float > getRobotJointTorques ( const std::string &  robotName)
overridevirtual

Implements SimulatedWorld.

Definition at line 655 of file BulletPhysicsWorld.cpp.

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◆ getRobotJointVelocities()

std::map< std::string, float > getRobotJointVelocities ( const std::string &  robotName)
overridevirtual

Implements SimulatedWorld.

Definition at line 590 of file BulletPhysicsWorld.cpp.

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◆ getRobotJointVelocity()

float getRobotJointVelocity ( const std::string &  robotName,
const std::string &  nodeName 
)
overridevirtual

Implements SimulatedWorld.

Definition at line 625 of file BulletPhysicsWorld.cpp.

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◆ getRobotLinearVelocity()

Eigen::Vector3f getRobotLinearVelocity ( const std::string &  robotName,
const std::string &  nodeName 
)
overridevirtual

Implements SimulatedWorld.

Definition at line 926 of file BulletPhysicsWorld.cpp.

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◆ getRobotMass()

float getRobotMass ( const std::string &  robotName)
overridevirtual

Implements SimulatedWorld.

Definition at line 503 of file BulletPhysicsWorld.cpp.

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◆ getRobotMaxTorque()

float getRobotMaxTorque ( const std::string &  robotName,
const std::string &  nodeName 
)
overridevirtual

Implements SimulatedWorld.

Definition at line 826 of file BulletPhysicsWorld.cpp.

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◆ getRobotNames()

std::vector< std::string > getRobotNames ( )
overridevirtual

Implements SimulatedWorld.

Definition at line 1715 of file BulletPhysicsWorld.cpp.

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◆ getRobotNodeDistance()

DistanceInfo getRobotNodeDistance ( const std::string &  robotName,
const std::string &  robotNodeName1,
const std::string &  robotNodeName2 
)
overridevirtual

Implements SimulatedWorld.

Definition at line 2057 of file BulletPhysicsWorld.cpp.

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◆ getRobotNodePose()

Eigen::Matrix4f getRobotNodePose ( const std::string &  robotName,
const std::string &  robotNodeName 
)
overridevirtual

Implements SimulatedWorld.

Definition at line 896 of file BulletPhysicsWorld.cpp.

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◆ getRobotPose()

Eigen::Matrix4f getRobotPose ( const std::string &  robotName)
overridevirtual

Implements SimulatedWorld.

Definition at line 797 of file BulletPhysicsWorld.cpp.

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◆ getRobots()

std::map< std::string, RobotPtr > getRobots ( )
overridevirtual

Implements SimulatedWorld.

Definition at line 1202 of file BulletPhysicsWorld.cpp.

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◆ getRobotStatus()

bool getRobotStatus ( const std::string &  robotName,
NameValueMap &  jointAngles,
NameValueMap &  jointVelocities,
NameValueMap &  jointTorques,
Eigen::Vector3f &  linearVelocity,
Eigen::Vector3f &  angularVelocity 
)
overrideprotectedvirtual

Implements SimulatedWorld.

Definition at line 1526 of file BulletPhysicsWorld.cpp.

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◆ hasObject()

bool hasObject ( const std::string &  instanceName)
overridevirtual

Implements SimulatedWorld.

Definition at line 465 of file BulletPhysicsWorld.cpp.

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◆ hasRobot()

bool hasRobot ( const std::string &  robotName)
overridevirtual

Implements SimulatedWorld.

Definition at line 1158 of file BulletPhysicsWorld.cpp.

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◆ hasRobotNode()

bool hasRobotNode ( const std::string &  robotName,
const std::string &  robotNodeName 
)
overridevirtual

Implements SimulatedWorld.

Definition at line 1176 of file BulletPhysicsWorld.cpp.

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◆ initialize()

void initialize ( int  stepSizeMS,
int  bulletFixedTimeStepMS,
int  bulletFixedTimeStepMaxNrLoops,
float  maxRealTimeSimSpeed = 1,
bool  floorPlane = false,
std::string  floorTexture = std::string() 
)
virtual

Definition at line 58 of file BulletPhysicsWorld.cpp.

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◆ objectGraspedEngine()

bool objectGraspedEngine ( const std::string &  robotName,
const std::string &  robotNodeName,
const std::string &  objectName,
Eigen::Matrix4f &  storeLocalTransform 
)
overrideprotectedvirtual

create a joint

Implements SimulatedWorld.

Definition at line 1295 of file BulletPhysicsWorld.cpp.

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◆ objectReleasedEngine()

bool objectReleasedEngine ( const std::string &  robotName,
const std::string &  robotNodeName,
const std::string &  objectName 
)
overrideprotectedvirtual

remove a joint

Implements SimulatedWorld.

Definition at line 1258 of file BulletPhysicsWorld.cpp.

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◆ removeObstacleEngine()

bool removeObstacleEngine ( const std::string &  name)
overrideprotectedvirtual

Implements SimulatedWorld.

Definition at line 1775 of file BulletPhysicsWorld.cpp.

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◆ removeRobotEngine()

bool removeRobotEngine ( const std::string &  robotName)
overrideprotectedvirtual

Implements SimulatedWorld.

Definition at line 1352 of file BulletPhysicsWorld.cpp.

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◆ setObjectPose()

void setObjectPose ( const std::string &  objectName,
const Eigen::Matrix4f &  globalPose 
)
overridevirtual

Implements SimulatedWorld.

Definition at line 470 of file BulletPhysicsWorld.cpp.

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◆ setObjectSimType()

void setObjectSimType ( const std::string &  objectName,
VirtualRobot::SceneObject::Physics::SimulationType  simType 
)
overridevirtual

Implements SimulatedWorld.

Definition at line 1730 of file BulletPhysicsWorld.cpp.

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◆ setRobotAngularVelocity()

void setRobotAngularVelocity ( const std::string &  robotName,
const std::string &  robotNodeName,
const Eigen::Vector3f &  vel 
)
overridevirtual

Implements SimulatedWorld.

Definition at line 1038 of file BulletPhysicsWorld.cpp.

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◆ setRobotAngularVelocityRobotRootFrame()

void setRobotAngularVelocityRobotRootFrame ( const std::string &  robotName,
const std::string &  robotNodeName,
const Eigen::Vector3f &  vel 
)
overridevirtual

Implements SimulatedWorld.

Definition at line 1112 of file BulletPhysicsWorld.cpp.

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◆ setRobotLinearVelocity()

void setRobotLinearVelocity ( const std::string &  robotName,
const std::string &  robotNodeName,
const Eigen::Vector3f &  vel 
)
overridevirtual

Implements SimulatedWorld.

Definition at line 1008 of file BulletPhysicsWorld.cpp.

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◆ setRobotLinearVelocityRobotRootFrame()

void setRobotLinearVelocityRobotRootFrame ( const std::string &  robotName,
const std::string &  robotNodeName,
const Eigen::Vector3f &  vel 
)
overridevirtual

Implements SimulatedWorld.

Definition at line 1068 of file BulletPhysicsWorld.cpp.

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◆ setRobotMaxTorque()

void setRobotMaxTorque ( const std::string &  robotName,
const std::string &  nodeName,
float  maxTorque 
)
overridevirtual

Implements SimulatedWorld.

Definition at line 861 of file BulletPhysicsWorld.cpp.

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◆ setRobotNodeSimType()

void setRobotNodeSimType ( const std::string &  robotName,
const std::string &  robotNodeName,
VirtualRobot::SceneObject::Physics::SimulationType  simType 
)
overridevirtual

Implements SimulatedWorld.

Definition at line 1742 of file BulletPhysicsWorld.cpp.

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◆ setRobotPose()

void setRobotPose ( const std::string &  robotName,
const Eigen::Matrix4f &  globalPose 
)
overridevirtual

Implements SimulatedWorld.

Definition at line 331 of file BulletPhysicsWorld.cpp.

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◆ setupFloorEngine()

void setupFloorEngine ( bool  enable,
const std::string &  floorTexture 
)
overrideprotectedvirtual

Implements SimulatedWorld.

Definition at line 1939 of file BulletPhysicsWorld.cpp.

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◆ stepPhysicsFixedTimeStep()

void stepPhysicsFixedTimeStep ( )
overridevirtual

Perform one simulation step.

This updates all models.

*bulletFixedTimeStepMaxNrLoops **‍/ stepSize * 1000.0f;

(float)bulletFixedTimeStepMaxNrLoops

Implements SimulatedWorld.

Definition at line 1834 of file BulletPhysicsWorld.cpp.

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◆ stepPhysicsRealTime()

void stepPhysicsRealTime ( )
overridevirtual

Perform one simulation step.

Calculates the delta update time from the time that has passed since the last call. This updates all models.

Implements SimulatedWorld.

Definition at line 1806 of file BulletPhysicsWorld.cpp.

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◆ stepStaticRobots()

void stepStaticRobots ( double  deltaInSeconds)
protected

Definition at line 1877 of file BulletPhysicsWorld.cpp.

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◆ synchronizeObjects()

bool synchronizeObjects ( )
overrideprotectedvirtual

Implements SimulatedWorld.

Definition at line 1640 of file BulletPhysicsWorld.cpp.

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◆ synchronizeRobotNodePoses()

bool synchronizeRobotNodePoses ( const std::string &  robotName,
std::map< std::string, armarx::PoseBasePtr > &  objMap 
)
overrideprotectedvirtual

Implements SimulatedWorld.

Definition at line 1501 of file BulletPhysicsWorld.cpp.

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◆ synchronizeSceneObjectPoses()

bool synchronizeSceneObjectPoses ( VirtualRobot::SceneObjectPtr  currentObjEngine,
std::map< std::string, armarx::PoseBasePtr > &  objMap 
)
overrideprotectedvirtual

Implements SimulatedWorld.

Definition at line 2000 of file BulletPhysicsWorld.cpp.

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◆ synchronizeSimulationDataEngine()

bool synchronizeSimulationDataEngine ( )
overrideprotectedvirtual

Implements SimulatedWorld.

Definition at line 2023 of file BulletPhysicsWorld.cpp.

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◆ toFramedPose()

armarx::FramedPosePtr toFramedPose ( const Eigen::Matrix4f &  globalPose,
const std::string &  robotName,
const std::string &  frameName 
)
overridevirtual

toFramedPose Constructs a framed pose

Parameters
globalPose
robotName
frameName
Returns

Implements SimulatedWorld.

Definition at line 1475 of file BulletPhysicsWorld.cpp.

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◆ updateForceTorqueSensor()

bool updateForceTorqueSensor ( ForceTorqueInfo &  ftInfo)
overrideprotectedvirtual

Implements SimulatedWorld.

Definition at line 1588 of file BulletPhysicsWorld.cpp.

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Member Data Documentation

◆ bulletEngine

SimDynamics::BulletEnginePtr bulletEngine
protected

Definition at line 198 of file BulletPhysicsWorld.h.

◆ bulletFixedTimeStepMaxNrLoops

int bulletFixedTimeStepMaxNrLoops
protected

Definition at line 199 of file BulletPhysicsWorld.h.

◆ bulletFixedTimeStepMS

int bulletFixedTimeStepMS
protected

Definition at line 200 of file BulletPhysicsWorld.h.

◆ contacts

std::vector<SimDynamics::DynamicsEngine::DynamicsContactInfo> contacts
protected

Definition at line 203 of file BulletPhysicsWorld.h.

◆ dynamicRobots

std::map<std::string, DynamicsRobotInfo> dynamicRobots
protected

Definition at line 216 of file BulletPhysicsWorld.h.

◆ dynamicsObjects

std::vector<SimDynamics::DynamicsObjectPtr> dynamicsObjects
protected

Definition at line 217 of file BulletPhysicsWorld.h.

◆ dynamicsWorld

SimDynamics::DynamicsWorldPtr dynamicsWorld
protected

Definition at line 215 of file BulletPhysicsWorld.h.

◆ m_clock

btClock m_clock
protected

Definition at line 205 of file BulletPhysicsWorld.h.

◆ robotLogger

SimDynamics::BulletRobotLoggerPtr robotLogger
protected

Definition at line 219 of file BulletPhysicsWorld.h.

◆ stepSizeMs

int stepSizeMs
protected

Definition at line 201 of file BulletPhysicsWorld.h.

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