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

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

Inheritance diagram for SimulatedWorld:

Classes
struct	GraspingInfo

Public Types
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)

Public Member Functions
virtual void	activateObject (const std::string &objectName)

virtual void	actuateRobotJoints (const std::string &robotName, const std::map< std::string, float > &angles, const std::map< std::string, float > &velocities)=0

virtual void	actuateRobotJointsPos (const std::string &robotName, const std::map< std::string, float > &angles)=0

virtual void	actuateRobotJointsTorque (const std::string &robotName, const std::map< std::string, float > &torques)=0

virtual void	actuateRobotJointsVel (const std::string &robotName, const std::map< std::string, float > &velocities)=0

virtual VirtualRobot::RobotPtr	adaptRobotToWorld (VirtualRobot::RobotPtr)

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 void	applyForceObject (const std::string &objectName, const Eigen::Vector3f &force)=0

virtual void	applyForceRobotNode (const std::string &robotName, const std::string &robotNodeName, const Eigen::Vector3f &force)=0

virtual void	applyTorqueObject (const std::string &objectName, const Eigen::Vector3f &torque)=0

virtual void	applyTorqueRobotNode (const std::string &robotName, const std::string &robotNodeName, const Eigen::Vector3f &torque)=0

virtual std::vector< SimDynamics::DynamicsEngine::DynamicsContactInfo >	copyContacts ()=0

virtual SimulatedWorldData	copyReportData ()

virtual SceneVisuData	copySceneVisuData ()
	copySceneVisuData Creates a copy of the visualization data More...

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

virtual int	getContactCount ()

virtual double	getCurrentSimTime ()

virtual armarx::DistanceInfo	getDistance (const std::string &robotName, const std::string &robotNodeName, const std::string &worldObjectName)=0

virtual int	getFixedTimeStepMS ()=0

virtual int	getObjectCount ()

virtual Eigen::Matrix4f	getObjectPose (const std::string &objectName)=0

virtual std::vector< VirtualRobot::SceneObjectPtr >	getObjects ()=0

virtual std::vector< std::string >	getObstacleNames ()=0

virtual SimulatedWorldData &	getReportData ()

virtual VirtualRobot::RobotPtr	getRobot (const std::string &robotName)=0

virtual Eigen::Vector3f	getRobotAngularVelocity (const std::string &robotName, const std::string &nodeName)=0

virtual ForceTorqueDataSeq	getRobotForceTorqueSensors (const std::string &robotName)=0

virtual float	getRobotJointAngle (const std::string &robotName, const std::string &nodeName)=0

virtual int	getRobotJointAngleCount ()

virtual std::map< std::string, float >	getRobotJointAngles (const std::string &robotName)=0

virtual float	getRobotJointLimitHi (const std::string &robotName, const std::string &nodeName)=0

virtual float	getRobotJointLimitLo (const std::string &robotName, const std::string &nodeName)=0

virtual std::map< std::string, float >	getRobotJointTorques (const std::string &robotName)=0

virtual std::map< std::string, float >	getRobotJointVelocities (const std::string &robotName)=0

virtual float	getRobotJointVelocity (const std::string &robotName, const std::string &nodeName)=0

virtual Eigen::Vector3f	getRobotLinearVelocity (const std::string &robotName, const std::string &nodeName)=0

virtual float	getRobotMass (const std::string &robotName)=0

virtual float	getRobotMaxTorque (const std::string &robotName, const std::string &nodeName)=0

virtual std::vector< std::string >	getRobotNames ()=0

virtual armarx::DistanceInfo	getRobotNodeDistance (const std::string &robotName, const std::string &robotNodeName1, const std::string &robotNodeName2)=0

virtual Eigen::Matrix4f	getRobotNodePose (const std::string &robotName, const std::string &robotNodeName)=0

virtual Eigen::Matrix4f	getRobotPose (const std::string &robotName)=0

virtual std::map< std::string, VirtualRobot::RobotPtr >	getRobots ()=0

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 bool	hasObject (const std::string &instanceName)=0

virtual bool	hasRobot (const std::string &robotName)=0

virtual bool	hasRobotNode (const std::string &robotName, const std::string &robotNodeName)=0

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	setObjectPose (const std::string &objectName, const Eigen::Matrix4f &globalPose)=0

virtual void	setObjectSimType (const std::string &objectName, VirtualRobot::SceneObject::Physics::SimulationType simType)=0

virtual void	setRobotAngularVelocity (const std::string &robotName, const std::string &robotNodeName, const Eigen::Vector3f &vel)=0

virtual void	setRobotAngularVelocityRobotRootFrame (const std::string &robotName, const std::string &robotNodeName, const Eigen::Vector3f &vel)=0

virtual void	setRobotLinearVelocity (const std::string &robotName, const std::string &robotNodeName, const Eigen::Vector3f &vel)=0

virtual void	setRobotLinearVelocityRobotRootFrame (const std::string &robotName, const std::string &robotNodeName, const Eigen::Vector3f &vel)=0

virtual void	setRobotMaxTorque (const std::string &robotName, const std::string &nodeName, float maxTorque)=0

virtual void	setRobotNodeSimType (const std::string &robotName, const std::string &robotNodeName, VirtualRobot::SceneObject::Physics::SimulationType simType)=0

virtual void	setRobotPose (const std::string &robotName, const Eigen::Matrix4f &globalPose)=0

virtual void	setupFloor (bool enable, const std::string &floorTexture)

	SimulatedWorld ()

virtual void	stepPhysicsFixedTimeStep ()=0
	Perform one simulation step. More...

virtual void	stepPhysicsRealTime ()=0
	Perform one simulation step. More...

virtual bool	synchronizeSimulationData ()
	synchronizeSimulationData Update the sim data according to the internal physics models. More...

virtual FramedPosePtr	toFramedPose (const Eigen::Matrix4f &globalPose, const std::string &robotName, const std::string &frameName)=0
	toFramedPose Constructs a framed pose 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
virtual bool	addObstacleEngine (VirtualRobot::SceneObjectPtr o, VirtualRobot::SceneObject::Physics::SimulationType simType)=0

virtual bool	addRobotEngine (VirtualRobot::RobotPtr robot, double pid_p, double pid_i, double pid_d, const std::string &filename, bool staticRobot, bool selfCollisions)=0

virtual VirtualRobot::SceneObjectPtr	getFloor ()=0

virtual bool	getRobotStatus (const std::string &robotName, NameValueMap &jointAngles, NameValueMap &jointVelocities, NameValueMap &jointTorques, Eigen::Vector3f &linearVelocity, Eigen::Vector3f &angularVelocity)=0

virtual bool	objectGraspedEngine (const std::string &robotName, const std::string &robotNodeName, const std::string &objectName, Eigen::Matrix4f &storeLocalTransform)=0
	create a joint More...

virtual bool	objectReleasedEngine (const std::string &robotName, const std::string &robotNodeName, const std::string &objectName)=0
	remove a joint More...

virtual bool	removeObstacleEngine (const std::string &name)=0

virtual bool	removeRobotEngine (const std::string &robotName)=0

virtual void	setupFloorEngine (bool enable, const std::string &floorTexture)=0

virtual bool	synchronizeObjects ()=0

virtual bool	synchronizeRobotNodePoses (const std::string &robotName, std::map< std::string, armarx::PoseBasePtr > &objMap)=0

virtual bool	synchronizeRobots ()

virtual bool	synchronizeSceneObjectPoses (VirtualRobot::SceneObjectPtr currentObjEngine, std::map< std::string, armarx::PoseBasePtr > &objMap)=0

virtual bool	synchronizeSimulationDataEngine ()=0

virtual bool	updateForceTorqueSensor (ForceTorqueInfo &ftInfo)=0

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
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

Detailed Description

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

Definition at line 128 of file SimulatedWorld.h.

Member Typedef Documentation

◆ MutexPtrType

using MutexPtrType = typename argType<setMutexFunc>::type

Definition at line 315 of file SimulatedWorld.h.

◆ MutexType

using MutexType = MutexPtrType::element_type

Definition at line 316 of file SimulatedWorld.h.

◆ ScopedRecursiveLock

using ScopedRecursiveLock = std::scoped_lock<MutexType>

Definition at line 318 of file SimulatedWorld.h.

◆ ScopedRecursiveLockPtr

using ScopedRecursiveLockPtr = std::shared_ptr<ScopedRecursiveLock>

Definition at line 319 of file SimulatedWorld.h.

◆ setMutexFunc

using setMutexFunc = decltype(&SimDynamics::DynamicsEngine::setMutex)

Definition at line 314 of file SimulatedWorld.h.

Constructor & Destructor Documentation

◆ SimulatedWorld()

SimulatedWorld ( )

Definition at line 52 of file SimulatedWorld.cpp.

◆ ~SimulatedWorld()

virtual ~SimulatedWorld ( )

overridevirtualdefault

Member Function Documentation

◆ activateObject()

void activateObject ( const std::string & objectName )

virtual

Reimplemented in BulletPhysicsWorld.

Definition at line 64 of file SimulatedWorld.cpp.

◆ actuateRobotJoints()

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

pure virtual

Implemented in MujocoPhysicsWorld, BulletPhysicsWorld, and KinematicsWorld.

◆ actuateRobotJointsPos()

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

pure virtual

Implemented in MujocoPhysicsWorld, BulletPhysicsWorld, and KinematicsWorld.

◆ actuateRobotJointsTorque()

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

pure virtual

Implemented in MujocoPhysicsWorld, BulletPhysicsWorld, and KinematicsWorld.

◆ actuateRobotJointsVel()

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

pure virtual

Implemented in MujocoPhysicsWorld, BulletPhysicsWorld, and KinematicsWorld.

◆ adaptRobotToWorld()

VirtualRobot::RobotPtr adaptRobotToWorld ( VirtualRobot::RobotPtr robot )

virtual

Reimplemented in BulletPhysicsWorld.

Definition at line 458 of file SimulatedWorld.cpp.

◆ addObstacle() [1/2]

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 = `""`
	)

virtual

Load and add an Obstacle (VirtualRobot xml file).

Parameters

filename	The obstacle xml file
pose	The inital pose (mm)
simType	eUnknown: use sim type of SceneObject, to overwrite internal simType use: eStatic: cannot move, but collide; eKinematic: can be moved, but no dynamics; eDynamic: full dynamic simulation

Definition at line 601 of file SimulatedWorld.cpp.

◆ addObstacle() [2/2]

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

Definition at line 652 of file SimulatedWorld.cpp.

◆ addObstacleEngine()

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

protectedpure virtual

Implemented in MujocoPhysicsWorld, BulletPhysicsWorld, and KinematicsWorld.

◆ addRobot() [1/2]

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`
	)

virtual

Load and add a robot.

addRobot Load and add int to the scene

Parameters

filename	The absolute filename
pose	The initial pose (4x4matrix, in MM)
filenameLocal	The local filename (i.e. not the absolute one)
pid_p	PID control paramters, currently all joints use the same pid values
pid_i	PID control paramters, currently all joints use the same pid values
pid_d	PID control paramters, currently all joints use the same pid values
staticRobot	If set, the robot is added as a static/fixed kinematic object which does not move due to physics (it may be actuated by setting the position of the joints)
scaling	The scaling of the robot (1 = no scaling).
colModel	Use the collision model for visualization.

Returns

Definition at line 335 of file SimulatedWorld.cpp.

Here is the call graph for this function:

◆ addRobot() [2/2]

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

Definition at line 125 of file SimulatedWorld.cpp.

◆ addRobotEngine()

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

protectedpure virtual

Implemented in MujocoPhysicsWorld, BulletPhysicsWorld, and KinematicsWorld.

◆ addScene() [1/2]

bool addScene	(	const std::string &	filename,
		VirtualRobot::SceneObject::Physics::SimulationType	simType = `VirtualRobot::SceneObject::Physics::eUnknown`
	)

virtual

Load and add an Scene (VirtualRobot xml file).

Parameters

filename	The scene xml fil
simType	eStatic: cannot move, but collide; eKinematic: can be moved, but no dynamics; eDynamic: full dynamic simulation

Definition at line 530 of file SimulatedWorld.cpp.

◆ addScene() [2/2]

virtual bool addScene	(	VirtualRobot::ScenePtr	scene,
		VirtualRobot::SceneObject::Physics::SimulationType	simType = `VirtualRobot::SceneObject::Physics::eUnknown`
	)

virtual

◆ applyForceObject()

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

pure virtual

Implemented in MujocoPhysicsWorld, BulletPhysicsWorld, and KinematicsWorld.

◆ applyForceRobotNode()

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

pure virtual

Implemented in MujocoPhysicsWorld, BulletPhysicsWorld, and KinematicsWorld.

◆ applyTorqueObject()

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

pure virtual

Implemented in MujocoPhysicsWorld, BulletPhysicsWorld, and KinematicsWorld.

◆ applyTorqueRobotNode()

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

pure virtual

Implemented in MujocoPhysicsWorld, BulletPhysicsWorld, and KinematicsWorld.

◆ copyContacts()

virtual std::vector<SimDynamics::DynamicsEngine::DynamicsContactInfo> copyContacts ( )

pure virtual

Implemented in MujocoPhysicsWorld, BulletPhysicsWorld, and KinematicsWorld.

◆ copyReportData()

SimulatedWorldData copyReportData ( )

virtual

Definition at line 118 of file SimulatedWorld.cpp.

◆ copySceneVisuData()

SceneVisuData copySceneVisuData ( )

virtual

copySceneVisuData Creates a copy of the visualization data

Returns: The copy

Definition at line 938 of file SimulatedWorld.cpp.

◆ enableLogging()

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

virtual

Reimplemented in BulletPhysicsWorld, and KinematicsWorld.

Definition at line 804 of file SimulatedWorld.cpp.

◆ getContactCount()

int getContactCount ( )

virtual

Reimplemented in MujocoPhysicsWorld, and BulletPhysicsWorld.

Definition at line 958 of file SimulatedWorld.cpp.

◆ getCurrentSimTime()

double getCurrentSimTime ( )

virtual

Definition at line 80 of file SimulatedWorld.cpp.

◆ getDistance()

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

pure virtual

Implemented in MujocoPhysicsWorld, BulletPhysicsWorld, and KinematicsWorld.

◆ getFixedTimeStepMS()

virtual int getFixedTimeStepMS ( )

pure virtual

Returns: The number of steps * the timestep in MS

Implemented in BulletPhysicsWorld, KinematicsWorld, and MujocoPhysicsWorld.

◆ getFloor()

virtual VirtualRobot::SceneObjectPtr getFloor ( )

protectedpure virtual

Implemented in BulletPhysicsWorld, MujocoPhysicsWorld, and KinematicsWorld.

◆ getObjectCount()

int getObjectCount ( )

virtual

Definition at line 965 of file SimulatedWorld.cpp.

◆ getObjectPose()

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

pure virtual

Implemented in MujocoPhysicsWorld, BulletPhysicsWorld, and KinematicsWorld.

◆ getObjects()

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

pure virtual

Implemented in MujocoPhysicsWorld, BulletPhysicsWorld, and KinematicsWorld.

◆ getObstacleNames()

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

pure virtual

Implemented in BulletPhysicsWorld, KinematicsWorld, and MujocoPhysicsWorld.

◆ getReportData()

SimulatedWorldData & getReportData ( )

virtual

Definition at line 112 of file SimulatedWorld.cpp.

◆ getRobot()

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

pure virtual

Implemented in BulletPhysicsWorld, MujocoPhysicsWorld, and KinematicsWorld.

◆ getRobotAngularVelocity()

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

pure virtual

Implemented in MujocoPhysicsWorld, BulletPhysicsWorld, and KinematicsWorld.

◆ getRobotForceTorqueSensors()

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

pure virtual

Implemented in MujocoPhysicsWorld, BulletPhysicsWorld, and KinematicsWorld.

◆ getRobotJointAngle()

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

pure virtual

Implemented in MujocoPhysicsWorld, BulletPhysicsWorld, and KinematicsWorld.

◆ getRobotJointAngleCount()

int getRobotJointAngleCount ( )

virtual

Definition at line 945 of file SimulatedWorld.cpp.

◆ getRobotJointAngles()

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

pure virtual

Implemented in MujocoPhysicsWorld, BulletPhysicsWorld, and KinematicsWorld.

◆ getRobotJointLimitHi()

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

pure virtual

Implemented in MujocoPhysicsWorld, BulletPhysicsWorld, and KinematicsWorld.

◆ getRobotJointLimitLo()

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

pure virtual

Implemented in MujocoPhysicsWorld, BulletPhysicsWorld, and KinematicsWorld.

◆ getRobotJointTorques()

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

pure virtual

Implemented in MujocoPhysicsWorld, BulletPhysicsWorld, and KinematicsWorld.

◆ getRobotJointVelocities()

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

pure virtual

Implemented in MujocoPhysicsWorld, BulletPhysicsWorld, and KinematicsWorld.

◆ getRobotJointVelocity()

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

pure virtual

Implemented in MujocoPhysicsWorld, BulletPhysicsWorld, and KinematicsWorld.

◆ getRobotLinearVelocity()

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

pure virtual

Implemented in MujocoPhysicsWorld, BulletPhysicsWorld, and KinematicsWorld.

◆ getRobotMass()

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

pure virtual

Implemented in MujocoPhysicsWorld, BulletPhysicsWorld, and KinematicsWorld.

◆ getRobotMaxTorque()

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

pure virtual

Implemented in MujocoPhysicsWorld, BulletPhysicsWorld, and KinematicsWorld.

◆ getRobotNames()

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

pure virtual

Implemented in BulletPhysicsWorld, KinematicsWorld, and MujocoPhysicsWorld.

◆ getRobotNodeDistance()

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

pure virtual

Implemented in MujocoPhysicsWorld, BulletPhysicsWorld, and KinematicsWorld.

◆ getRobotNodePose()

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

pure virtual

Implemented in MujocoPhysicsWorld, BulletPhysicsWorld, and KinematicsWorld.

◆ getRobotPose()

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

pure virtual

Implemented in MujocoPhysicsWorld, BulletPhysicsWorld, and KinematicsWorld.

◆ getRobots()

virtual std::map<std::string, VirtualRobot::RobotPtr> getRobots ( )

pure virtual

Implemented in BulletPhysicsWorld, MujocoPhysicsWorld, and KinematicsWorld.

◆ getRobotStatus()

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

protectedpure virtual

Implemented in MujocoPhysicsWorld, BulletPhysicsWorld, and KinematicsWorld.

◆ getScopedEngineLock()

auto getScopedEngineLock ( const std::string & callStr )

virtual

Definition at line 714 of file SimulatedWorld.cpp.

◆ getScopedSyncLock()

auto getScopedSyncLock ( const std::string & callStr )

virtual

Definition at line 747 of file SimulatedWorld.cpp.

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◆ getSimTime()

float getSimTime ( )

virtual

Definition at line 810 of file SimulatedWorld.cpp.

◆ getSimulationStepDuration()

float getSimulationStepDuration ( )

virtual

getSimulationStepDuration

Returns: The requested duration of the last simulation step (in ms)

Definition at line 792 of file SimulatedWorld.cpp.

◆ getSimulationStepTimeMeasured()

float getSimulationStepTimeMeasured ( )

virtual

getSimulationStepTimeMeasured

Returns: How long it took to simulate the last sim step.

Definition at line 798 of file SimulatedWorld.cpp.

◆ getSyncEngineTime()

float getSyncEngineTime ( )

virtual

Definition at line 816 of file SimulatedWorld.cpp.

◆ hasObject()

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

pure virtual

Implemented in MujocoPhysicsWorld, BulletPhysicsWorld, and KinematicsWorld.

◆ hasRobot()

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

pure virtual

Implemented in MujocoPhysicsWorld, BulletPhysicsWorld, and KinematicsWorld.

◆ hasRobotNode()

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

pure virtual

Implemented in MujocoPhysicsWorld, BulletPhysicsWorld, and KinematicsWorld.

◆ objectGrasped()

void objectGrasped	(	const std::string &	robotName,
		const std::string &	robotNodeName,
		const std::string &	objectName
	)

virtual

create a joint

Definition at line 243 of file SimulatedWorld.cpp.

◆ objectGraspedEngine()

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

protectedpure virtual

create a joint

Implemented in MujocoPhysicsWorld, BulletPhysicsWorld, and KinematicsWorld.

◆ objectReleased()

void objectReleased	(	const std::string &	robotName,
		const std::string &	robotNodeName,
		const std::string &	objectName
	)

virtual

remove a joint

Definition at line 206 of file SimulatedWorld.cpp.

◆ objectReleasedEngine()

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

protectedpure virtual

remove a joint

Implemented in MujocoPhysicsWorld, BulletPhysicsWorld, and KinematicsWorld.

◆ removeObstacle()

bool removeObstacle ( const std::string & name )

virtual

Definition at line 299 of file SimulatedWorld.cpp.

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◆ removeObstacleEngine()

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

protectedpure virtual

Implemented in MujocoPhysicsWorld, BulletPhysicsWorld, and KinematicsWorld.

◆ removeObstacles()

bool removeObstacles ( )

virtual

Definition at line 280 of file SimulatedWorld.cpp.

◆ removeRobot()

bool removeRobot ( const std::string & robotName )

virtual

Definition at line 464 of file SimulatedWorld.cpp.

◆ removeRobotEngine()

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

protectedpure virtual

Implemented in MujocoPhysicsWorld, BulletPhysicsWorld, and KinematicsWorld.

◆ removeRobots()

bool removeRobots ( )

virtual

Definition at line 96 of file SimulatedWorld.cpp.

◆ resetData()

bool resetData ( )

virtual

resetData Clears all data

Definition at line 70 of file SimulatedWorld.cpp.

◆ resetSimTime()

void resetSimTime ( )

virtual

Definition at line 90 of file SimulatedWorld.cpp.

◆ setObjectPose()

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

pure virtual

Implemented in MujocoPhysicsWorld, BulletPhysicsWorld, and KinematicsWorld.

◆ setObjectSimType()

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

pure virtual

Implemented in BulletPhysicsWorld, MujocoPhysicsWorld, and KinematicsWorld.

◆ setRobotAngularVelocity()

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

pure virtual

Implemented in MujocoPhysicsWorld, BulletPhysicsWorld, and KinematicsWorld.

◆ setRobotAngularVelocityRobotRootFrame()

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

pure virtual

Implemented in MujocoPhysicsWorld, BulletPhysicsWorld, and KinematicsWorld.

◆ setRobotLinearVelocity()

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

pure virtual

Implemented in MujocoPhysicsWorld, BulletPhysicsWorld, and KinematicsWorld.

◆ setRobotLinearVelocityRobotRootFrame()

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

pure virtual

Implemented in MujocoPhysicsWorld, BulletPhysicsWorld, and KinematicsWorld.

◆ setRobotMaxTorque()

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

pure virtual

Implemented in MujocoPhysicsWorld, BulletPhysicsWorld, and KinematicsWorld.

◆ setRobotNodeSimType()

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

pure virtual

Implemented in MujocoPhysicsWorld, BulletPhysicsWorld, and KinematicsWorld.

◆ setRobotPose()

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

pure virtual

Implemented in MujocoPhysicsWorld, BulletPhysicsWorld, and KinematicsWorld.

◆ setupFloor()

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

virtual

Definition at line 780 of file SimulatedWorld.cpp.

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◆ setupFloorEngine()

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

protectedpure virtual

Implemented in MujocoPhysicsWorld, BulletPhysicsWorld, and KinematicsWorld.

◆ stepPhysicsFixedTimeStep()

virtual void stepPhysicsFixedTimeStep ( )

pure virtual

Perform one simulation step.

This updates all models.

Implemented in BulletPhysicsWorld, KinematicsWorld, and MujocoPhysicsWorld.

◆ stepPhysicsRealTime()

virtual void stepPhysicsRealTime ( )

pure virtual

Perform one simulation step.

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

Implemented in BulletPhysicsWorld, KinematicsWorld, and MujocoPhysicsWorld.

◆ synchronizeObjects()

virtual bool synchronizeObjects ( )

protectedpure virtual

Implemented in MujocoPhysicsWorld, BulletPhysicsWorld, and KinematicsWorld.

◆ synchronizeRobotNodePoses()

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

protectedpure virtual

Implemented in BulletPhysicsWorld, and KinematicsWorld.

◆ synchronizeRobots()

bool synchronizeRobots ( )

protectedvirtual

Definition at line 822 of file SimulatedWorld.cpp.

◆ synchronizeSceneObjectPoses()

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

protectedpure virtual

Implemented in BulletPhysicsWorld, and KinematicsWorld.

◆ synchronizeSimulationData()

bool synchronizeSimulationData ( )

virtual

synchronizeSimulationData Update the sim data according to the internal physics models.

Returns: true on success.

Definition at line 880 of file SimulatedWorld.cpp.

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◆ synchronizeSimulationDataEngine()

virtual bool synchronizeSimulationDataEngine ( )

protectedpure virtual

Implemented in MujocoPhysicsWorld, BulletPhysicsWorld, and KinematicsWorld.

◆ toFramedPose()

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

pure virtual

toFramedPose Constructs a framed pose

Parameters

globalPose
robotName
frameName

Returns

Implemented in MujocoPhysicsWorld, BulletPhysicsWorld, and KinematicsWorld.

◆ updateContacts()

void updateContacts ( bool enable )

virtual

Definition at line 932 of file SimulatedWorld.cpp.

◆ updateForceTorqueSensor()

virtual bool updateForceTorqueSensor ( ForceTorqueInfo & ftInfo )

protectedpure virtual

Implemented in MujocoPhysicsWorld, BulletPhysicsWorld, and KinematicsWorld.

Member Data Documentation

◆ attachedObjects

std::vector<GraspingInfo> attachedObjects

protected

Definition at line 449 of file SimulatedWorld.h.

◆ collectContacts

bool collectContacts

protected

Definition at line 439 of file SimulatedWorld.h.

◆ currentSimTimeSec

double currentSimTimeSec = 0.0

protected

Definition at line 433 of file SimulatedWorld.h.

◆ currentSyncTimeSec

double currentSyncTimeSec = 0.0

protected

Definition at line 434 of file SimulatedWorld.h.

◆ engineMtxAccCalls

std::map< std::string, int > engineMtxAccCalls

protected

Definition at line 462 of file SimulatedWorld.h.

◆ engineMtxAccTime

std::map< std::string, float > engineMtxAccTime

protected

Definition at line 463 of file SimulatedWorld.h.

◆ engineMtxLastTime

std::map< std::string, IceUtil::Time > engineMtxLastTime

protected

Definition at line 464 of file SimulatedWorld.h.

◆ engineMutex

MutexPtrType engineMutex

protected

Definition at line 436 of file SimulatedWorld.h.

◆ maxRealTimeSimSpeed

float maxRealTimeSimSpeed = 1

protected

Definition at line 453 of file SimulatedWorld.h.

◆ simReportData

SimulatedWorldData simReportData

protected

Definition at line 452 of file SimulatedWorld.h.

◆ simStepExecutionDurationMS

float simStepExecutionDurationMS

protected

Definition at line 457 of file SimulatedWorld.h.

◆ simTimeStepMS

float simTimeStepMS

protected

Definition at line 454 of file SimulatedWorld.h.

◆ simVisuData

SceneVisuData simVisuData

protected

Definition at line 451 of file SimulatedWorld.h.

◆ synchronizeDurationMS

float synchronizeDurationMS

protected

Definition at line 459 of file SimulatedWorld.h.

◆ synchronizeMutex

MutexPtrType synchronizeMutex

protected

Definition at line 437 of file SimulatedWorld.h.

◆ syncMtxAccCalls

std::map< std::string, int > syncMtxAccCalls

protected

Definition at line 465 of file SimulatedWorld.h.

◆ syncMtxAccTime

std::map< std::string, float > syncMtxAccTime

protected

Definition at line 466 of file SimulatedWorld.h.

◆ syncMtxLastTime

std::map< std::string, IceUtil::Time > syncMtxLastTime

protected

Definition at line 467 of file SimulatedWorld.h.

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

ArmarXSimulation/components/Simulator/SimulatedWorld.h
ArmarXSimulation/components/Simulator/SimulatedWorld.cpp

Classes

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ MutexPtrType

◆ MutexType

◆ ScopedRecursiveLock

◆ ScopedRecursiveLockPtr

◆ setMutexFunc

Constructor & Destructor Documentation

◆ SimulatedWorld()

◆ ~SimulatedWorld()

Member Function Documentation

◆ activateObject()

◆ actuateRobotJoints()

◆ actuateRobotJointsPos()

◆ actuateRobotJointsTorque()

◆ actuateRobotJointsVel()

◆ adaptRobotToWorld()

◆ addObstacle() [1/2]

◆ addObstacle() [2/2]

◆ addObstacleEngine()

◆ addRobot() [1/2]

◆ addRobot() [2/2]

◆ addRobotEngine()

◆ addScene() [1/2]

◆ addScene() [2/2]

◆ applyForceObject()

◆ applyForceRobotNode()

◆ applyTorqueObject()

◆ applyTorqueRobotNode()

◆ copyContacts()

◆ copyReportData()

◆ copySceneVisuData()

◆ enableLogging()

◆ getContactCount()

◆ getCurrentSimTime()

◆ getDistance()

◆ getFixedTimeStepMS()

◆ getFloor()

◆ getObjectCount()

◆ getObjectPose()

◆ getObjects()

◆ getObstacleNames()

◆ getReportData()

◆ getRobot()

◆ getRobotAngularVelocity()

◆ getRobotForceTorqueSensors()

◆ getRobotJointAngle()

◆ getRobotJointAngleCount()

◆ getRobotJointAngles()

◆ getRobotJointLimitHi()

◆ getRobotJointLimitLo()

◆ getRobotJointTorques()

◆ getRobotJointVelocities()

◆ getRobotJointVelocity()

◆ getRobotLinearVelocity()

◆ getRobotMass()

◆ getRobotMaxTorque()

◆ getRobotNames()

◆ getRobotNodeDistance()

◆ getRobotNodePose()

◆ getRobotPose()

◆ getRobots()

◆ getRobotStatus()

◆ getScopedEngineLock()

◆ getScopedSyncLock()

◆ getSimTime()

◆ getSimulationStepDuration()

◆ getSimulationStepTimeMeasured()

◆ getSyncEngineTime()

◆ hasObject()

◆ hasRobot()

◆ hasRobotNode()

◆ objectGrasped()

◆ objectGraspedEngine()

◆ objectReleased()