The Simulator class holds an instance of the AmrarXPhysicsWorld and communicates to ArmarX. More...

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

Inheritance diagram for Simulator:

Public Member Functions
void	activateObject (const std::string &objectName, const Ice::Current &c=Ice::emptyCurrent) override

void	actuateRobotJoints (const std::string &robotName, const NameValueMap &angles, const NameValueMap &velocities, const Ice::Current &c=Ice::emptyCurrent) override

void	actuateRobotJointsPos (const std::string &robotName, const NameValueMap &angles, const Ice::Current &c=Ice::emptyCurrent) override

void	actuateRobotJointsTorque (const std::string &robotName, const NameValueMap &torques, const Ice::Current &c=Ice::emptyCurrent) override

void	actuateRobotJointsVel (const std::string &robotName, const NameValueMap &velocities, const Ice::Current &c=Ice::emptyCurrent) override

void	addBox (float width, float height, float depth, float massKG, const DrawColor &color, const std::string &instanceName, const PoseBasePtr &globalPose, bool isStatic=false, const Ice::Current &c=Ice::emptyCurrent) override

void	addObject (const memoryx::ObjectClassBasePtr &objectClassBase, const std::string &instanceName, const PoseBasePtr &globalPose, bool isStatic=false, const Ice::Current &c=Ice::emptyCurrent) override

void	addObjectFromFile (const armarx::data::PackagePath &packagePath, const std::string &instanceName, const PoseBasePtr &globalPose, bool isStatic=false, const Ice::Current &c=Ice::emptyCurrent) override

std::string	addRobot (const std::string &filename, const Ice::Current &c=Ice::emptyCurrent) override

std::string	addRobotFromFile (const armarx::data::PackagePath &packagePath, const Ice::Current &c=Ice::emptyCurrent) override

std::string	addScaledRobot (const std::string &filename, float scale, const Ice::Current &c=Ice::emptyCurrent) override

std::string	addScaledRobotName (const std::string &instanceName, const std::string &filename, float scale, const Ice::Current &c=Ice::emptyCurrent) override

bool	addSnapshot (memoryx::WorkingMemorySnapshotInterfacePrx snapshotInterfacePrx)

void	applyForceObject (const std::string &objectName, const Vector3BasePtr &force, const Ice::Current &c=Ice::emptyCurrent) override

void	applyForceRobotNode (const std::string &robotName, const std::string &robotNodeName, const Vector3BasePtr &force, const Ice::Current &c=Ice::emptyCurrent) override

void	applyTorqueObject (const std::string &objectName, const Vector3BasePtr &torque, const Ice::Current &c=Ice::emptyCurrent) override

void	applyTorqueRobotNode (const std::string &robotName, const std::string &robotNodeName, const Vector3BasePtr &torque, const Ice::Current &c=Ice::emptyCurrent) override

PropertyDefinitionsPtr	createPropertyDefinitions () override

ContactInfoSequence	getContacts (const Ice::Current &c=Ice::emptyCurrent) override
	Returns a list of all contacts. Note that you must call updateContacts() first to enable contacts handling.

std::string	getDefaultName () const override
	Retrieve default name of component.

DistanceInfo	getDistance (const std::string &robotName, const std::string &robotNodeName, const std::string &worldObjectName, const Ice::Current &c=Ice::emptyCurrent) override

int	getFixedTimeStepMS (const Ice::Current &c=Ice::emptyCurrent) override

ObjectClassInformationSequence	getObjectClassPoses (const std::string &robotName, const std::string &frameName, const std::string &className, const Ice::Current &c=Ice::emptyCurrent) override

PoseBasePtr	getObjectPose (const std::string &objectName, const Ice::Current &c=Ice::emptyCurrent) override

Vector3BasePtr	getRobotAngularVelocity (const std::string &robotName, const std::string &nodeName, const Ice::Current &c=Ice::emptyCurrent) override

ForceTorqueDataSeq	getRobotForceTorqueSensors (const std::string &robotName, const Ice::Current &c=Ice::emptyCurrent) override

float	getRobotJointAngle (const std::string &robotName, const std::string &nodeName, const Ice::Current &c=Ice::emptyCurrent) override

NameValueMap	getRobotJointAngles (const std::string &robotName, const Ice::Current &c=Ice::emptyCurrent) override

float	getRobotJointLimitHi (const std::string &robotName, const std::string &nodeName, const Ice::Current &c=Ice::emptyCurrent) override

float	getRobotJointLimitLo (const std::string &robotName, const std::string &nodeName, const Ice::Current &c=Ice::emptyCurrent) override

NameValueMap	getRobotJointTorques (const std::string &robotName, const Ice::Current &c=Ice::emptyCurrent) override

NameValueMap	getRobotJointVelocities (const std::string &robotName, const Ice::Current &c=Ice::emptyCurrent) override

float	getRobotJointVelocity (const std::string &robotName, const std::string &nodeName, const Ice::Current &c=Ice::emptyCurrent) override

Vector3BasePtr	getRobotLinearVelocity (const std::string &robotName, const std::string &nodeName, const Ice::Current &c=Ice::emptyCurrent) override

float	getRobotMass (const std::string &robotName, const Ice::Current &c=Ice::emptyCurrent) override

float	getRobotMaxTorque (const std::string &robotName, const std::string &nodeName, const Ice::Current &c=Ice::emptyCurrent) override

Ice::StringSeq	getRobotNames (const Ice::Current &) override

DistanceInfo	getRobotNodeDistance (const std::string &robotName, const std::string &robotNodeName1, const std::string &robotNodeName2, const Ice::Current &c=Ice::emptyCurrent) override

PoseBasePtr	getRobotNodePose (const std::string &robotName, const std::string &robotNodeName, const Ice::Current &c=Ice::emptyCurrent) override

PoseBasePtr	getRobotPose (const std::string &robotName, const Ice::Current &c=Ice::emptyCurrent) override

SimulatedRobotState	getRobotState (const std::string &robotName, const Ice::Current &) override

SceneVisuData	getScene (const Ice::Current &c=Ice::emptyCurrent) override

float	getSimTime (const Ice::Current &c=Ice::emptyCurrent) override

SimulatorInformation	getSimulatorInformation (const ::Ice::Current &=Ice::emptyCurrent) override

Ice::Float	getSpeed (const Ice::Current &c=Ice::emptyCurrent) override

Ice::Int	getStepTimeMS (const ::Ice::Current &=Ice::emptyCurrent) override

Ice::Long	getTime (const Ice::Current &c=Ice::emptyCurrent) override

bool	hasObject (const std::string &instanceName, const Ice::Current &c=Ice::emptyCurrent) override

bool	hasRobot (const std::string &robotName, const Ice::Current &c=Ice::emptyCurrent) override

bool	hasRobotNode (const std::string &robotName, const std::string &robotNodeName, const Ice::Current &c=Ice::emptyCurrent) override

bool	isRunning (const Ice::Current &c=Ice::emptyCurrent) override

bool	loadAgentsFromSnapshot (memoryx::WorkingMemorySnapshotInterfacePrx snapshotInterfacePrx)

void	objectGrasped (const std::string &robotName, const std::string &robotNodeName, const std::string &objectName, const Ice::Current &c=Ice::emptyCurrent) override
	create a joint

void	objectReleased (const std::string &robotName, const std::string &robotNodeName, const std::string &objectName, const Ice::Current &c=Ice::emptyCurrent) override
	remove a joint

void	onConnectComponent () override
	Pure virtual hook for the subclass.

void	onDisconnectComponent () override
	Hook for subclass.

void	onExitComponent () override
	Hook for subclass.

void	onInitComponent () override
	Pure virtual hook for the subclass.

void	pause (const Ice::Current &c=Ice::emptyCurrent) override

void	reInitialize (const Ice::Current &c=Ice::emptyCurrent) override
	reInitialize Re-initializes the scene. Removes all robots and objects (and, in case the scene was loaded via a MemoryX snapshot, the working memory is cleared) Then, the setup is re-loaded similar to the startup procedure.

void	removeObject (const std::string &instanceName, const Ice::Current &) override

bool	removeRobot (const std::string &robotName, const Ice::Current &c=Ice::emptyCurrent)

void	run () override

void	setObjectPose (const std::string &objectName, const PoseBasePtr &globalPose, const Ice::Current &c=Ice::emptyCurrent) override

void	setObjectSimulationType (const std::string &objectName, armarx::SimulationType type, const Ice::Current &c=Ice::emptyCurrent) override

void	setRobotAngularVelocity (const std::string &robotName, const std::string &robotNodeName, const Vector3BasePtr &vel, const Ice::Current &c=Ice::emptyCurrent) override

void	setRobotAngularVelocityRobotRootFrame (const std::string &robotName, const std::string &robotNodeName, const Vector3BasePtr &vel, const Ice::Current &c=Ice::emptyCurrent) override

void	setRobotLinearVelocity (const std::string &robotName, const std::string &robotNodeName, const Vector3BasePtr &vel, const Ice::Current &c=Ice::emptyCurrent) override

void	setRobotLinearVelocityRobotRootFrame (const std::string &robotName, const std::string &robotNodeName, const Vector3BasePtr &vel, const Ice::Current &c=Ice::emptyCurrent) override

void	setRobotMaxTorque (const std::string &robotName, const std::string &nodeName, float maxTorque, const Ice::Current &c=Ice::emptyCurrent) override

void	setRobotPose (const std::string &robotName, const PoseBasePtr &globalPose, const Ice::Current &c=Ice::emptyCurrent) override

void	setSpeed (Ice::Float newSpeed, const Ice::Current &c=Ice::emptyCurrent) override
	setSpeed sets the scaling factor for the speed of passing of time e.g.

void	showContacts (bool enable, const std::string &layerName, const Ice::Current &c=Ice::emptyCurrent) override

	Simulator ()

void	start (const Ice::Current &c=Ice::emptyCurrent) override

void	step (const Ice::Current &c=Ice::emptyCurrent) override

void	stop (const Ice::Current &c=Ice::emptyCurrent) override

void	updateContacts (bool enable, const Ice::Current &c=Ice::emptyCurrent) override
	Enables the handling of contacts. If you intend to use getContacts(), call this method with enabled = true first.

	~Simulator () override

Public Member Functions inherited from Component
virtual void	componentPropertiesUpdated (const std::set< std::string > &changedProperties)
	Implement this function if you would like to react to changes in the properties.

void	forceComponentCreatedByComponentCreateFunc ()
	forces the flag to be set to true that the object instance was created by the Component::create function

std::vector< PropertyUserPtr >	getAdditionalPropertyUsers () const

template<typename PropertyType>
Property< PropertyType >	getProperty (const std::string &name)

template<typename PropertyType>
Property< PropertyType >	getProperty (const std::string &name) const

template<class T>
void	getProperty (std::atomic< T > &val, const std::string &name) const

template<class T>
void	getProperty (T &val, const std::string &name) const

template<class ProxyType>
ProxyType	getProxyFromProperty (const std::string &propertyName, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
	Get a proxy whose name is specified by the given property.

template<class ProxyType>
void	getProxyFromProperty (ProxyType &proxy, const std::string &propertyName, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)

template<class TopicProxyType>
TopicProxyType	getTopicFromProperty (const std::string &propertyName)
	Get a topic proxy whose name is specified by the given property.

template<class TopicProxyType>
void	getTopicFromProperty (TopicProxyType &top, const std::string &propertyName)

void	initializeProperties (const std::string &configName, Ice::PropertiesPtr const &properties, const std::string &configDomain)
	initializes the properties of this component.

void	injectPropertyDefinitions (PropertyDefinitionsPtr &props) override

void	offeringTopicFromProperty (const std::string &propertyName)
	Offer a topic whose name is specified by the given property.

virtual void	preOnConnectComponent () override

virtual void	preOnInitComponent () override

bool	usingProxyFromProperty (const std::string &propertyName, const std::string &endpoints="")
	Use a proxy whose name is specified by the given property.

void	usingTopicFromProperty (const std::string &propertyName, bool orderedPublishing=false)
	Use a topic whose name is specified by the given property.

Public Member Functions inherited from ManagedIceObject
void	enableProfiler (bool enable)
	setProfiler allows setting ManagedIceObject::profiler to a new instance (if the new instance is actually not a null pointer)

std::string	generateSubObjectName (const std::string &subObjectName)
	Generates a unique name for a sub object from a general name.

ArmarXManagerPtr	getArmarXManager () const
	Returns the ArmarX manager used to add and remove components.

ManagedIceObjectConnectivity	getConnectivity () const
	Retrieve connectivity of the object (topcis as well as proxies)

IceManagerPtr	getIceManager () const
	Returns the IceManager.

VariantBasePtr	getMetaInfo (const std::string &id)

StringVariantBaseMap	getMetaInfoMap () const

std::string	getName () const
	Retrieve name of object.

Ice::ObjectAdapterPtr	getObjectAdapter () const
	Returns object's Ice adapter.

ArmarXObjectSchedulerPtr	getObjectScheduler () const

PeriodicTaskPtr	getPeriodicTask (const std::string &name)

Profiler::ProfilerPtr	getProfiler () const
	getProfiler returns an instance of armarx::Profiler

template<class ProxyTarg, class... Args>
void	getProxy (const char *name, IceInternal::ProxyHandle< ProxyTarg > &proxy, Args &&... args)

template<class ProxyType>
ProxyType	getProxy (const std::string &name, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
	Retrieves a proxy object.

template<class ProxyTarg, class... Args>
void	getProxy (const std::string &name, IceInternal::ProxyHandle< ProxyTarg > &proxy, Args &&... args)

template<class ProxyTarg, class... Args>
void	getProxy (IceInternal::ProxyHandle< ProxyTarg > &proxy, const char *name, Args &&... args)

template<class ProxyTarg, class... Args>
void	getProxy (IceInternal::ProxyHandle< ProxyTarg > &proxy, const std::string &name, Args &&... args)
	Assigns a proxy to `proxy`.

Ice::ObjectPrx	getProxy (long timeoutMs=0, bool waitForScheduler=true) const
	Returns the proxy of this object (optionally it waits for the proxy)

template<class Prx>
Prx	getProxy (long timeoutMs=0, bool waitForScheduler=true) const

template<class ProxyType>
void	getProxy (ProxyType &proxy, const char *name, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
	Overload to allow using string literals as name (solve ambiguous overload).

template<class Prx>
void	getProxy (Prx &prx, long timeoutMs=0, bool waitForScheduler=true) const

int	getState () const
	Retrieve current state of the ManagedIceObject.

template<class TopicProxyType>
TopicProxyType	getTopic (const std::string &name)
	Returns a proxy of the specified topic.

template<class TopicProxyType>
void	getTopic (TopicProxyType &topicProxy, const std::string &name)
	Assigns a proxy of the specified topic to `topicProxy`.

std::vector< std::string >	getUnresolvedDependencies () const
	returns the names of all unresolved dependencies

	ManagedIceObject (ManagedIceObject const &other)

void	offeringTopic (const std::string &name)
	Registers a topic for retrival after initialization.

void	preambleGetTopic (std::string const &name)

void	setMetaInfo (const std::string &id, const VariantBasePtr &value)
	Allows to set meta information that can be queried live via Ice interface on the ArmarXManager.

void	startPeriodicTask (const std::string &uniqueName, std::function< void(void)> f, int periodMs, bool assureMeanInterval=false, bool forceSystemTime=true)

bool	stopPeriodicTask (const std::string &name)

bool	unsubscribeFromTopic (const std::string &name)
	Unsubscribe from a topic.

bool	usingProxy (const std::string &name, const std::string &endpoints="")
	Registers a proxy for retrieval after initialization and adds it to the dependency list.

void	usingTopic (const std::string &name, bool orderedPublishing=false)
	Registers a proxy for subscription after initialization.

void	waitForObjectScheduler ()
	Waits until the ObjectScheduler could resolve all dependencies.

void	waitForProxy (std::string const &name, bool addToDependencies)

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.

MessageTypeT	getEffectiveLoggingLevel () const

	Logging ()

void	setLocalMinimumLoggingLevel (MessageTypeT level)
	With setLocalMinimumLoggingLevel the minimum verbosity-level of log-messages can be set.

void	setTag (const LogTag &tag)

void	setTag (const std::string &tagName)

virtual	~Logging ()

Public Member Functions inherited from PropertyUser
std::vector< std::string >	getComponentProxyNames ()

Ice::PropertiesPtr	getIceProperties () const
	Returns the set of Ice properties.

template<typename PropertyType>
Property< PropertyType >	getProperty (const std::string &name)
	Property creation and retrieval.

template<typename PropertyType>
Property< PropertyType >	getProperty (const std::string &name) const
	Hack to allow using getProperty in `const`-modified methods.

template<class T>
void	getProperty (std::atomic< T > &val, const std::string &name) const

template<class T>
void	getProperty (T &val, const std::string &name) const

template<class T>
std::vector< T >	getPropertyAsCSV (const std::string &name, const std::string &splitBy=",;", bool trimElements=true, bool removeEmptyElements=true)

template<class ContainerT>
void	getPropertyAsCSV (ContainerT &val, const std::string &name, const std::string &splitBy=",;", bool trimElements=true, bool removeEmptyElements=true)

PropertyDefinitionsPtr	getPropertyDefinitions ()
	Returns the component's property definition container.

std::vector< std::string >	getSubscribedTopicNames ()

std::vector< std::string >	getTopicProxyNames ()

bool	hasProperty (const std::string &name)

	PropertyUser ()

virtual void	setIceProperties (Ice::PropertiesPtr properties)
	Sets the Ice properties.

bool	tryAddProperty (const std::string &propertyName, const std::string &value)

virtual void	updateIceProperties (const std::map< std::string, std::string > &changes)

void	updateProperties ()

void	updateProxies (IceManagerPtr)

	~PropertyUser () override

Static Public Member Functions
static std::string	GetDefaultName ()

Static Public Member Functions inherited from Component
template<class T, class TPtr = IceInternal::Handle<T>>
static TPtr	create (Ice::PropertiesPtr properties=Ice::createProperties(), const std::string &configName="", const std::string &configDomain="ArmarX")
	Factory method for a component.

Static Public Member Functions inherited from ManagedIceObject
static std::string	generateSubObjectName (const std::string &superObjectName, const std::string &subObjectName)
	Generates a unique name for a sub object from a general name and unique name.

static std::string	GetObjectStateAsString (int state)

Protected Member Functions
std::string	addRobot (std::string robotInstanceName, const std::string &robFileGlobal, Eigen::Matrix4f gp, const std::string &robFile, double pid_p=10.0, double pid_i=0.0, double pid_d=0.0, bool isStatic=false, float scaling=1, bool colModel=false, std::map< std::string, float > initConfig=std::map< std::string, float >(), bool selfCollisions=false)
	Returns the name. On failure an empty string is returned.

void	initializeData ()

void	reportDataLoop ()

void	reportVisuLoop ()

memoryx::GridFileManagerPtr	requestFileManager ()

void	resetData (bool clearWorkingMemory=false)
	resetData Clears all data

void	shutdownSimulationLoop ()
	stop the simulation and join the simulation thread

void	simulationLoop ()

SimulatedRobotState	stateFromRobotInfo (RobotInfo const &robot, IceUtil::Time timestamp)

bool	updateRobotTopics ()

Protected Member Functions inherited from Component
void	addPropertyUser (const PropertyUserPtr &subPropertyUser)
	Add additional property users here that should show up in the application help text.

	Component ()
	Protected default constructor. Used for virtual inheritance. Use createManagedIceObject() instead.

std::string	getConfigDomain ()
	Retrieve config domain for this component as set in constructor.

std::string	getConfigIdentifier ()
	Retrieve config identifier for this component as set in constructor.

std::string	getConfigName ()
	Retrieve config name for this component as set in constructor.

virtual void	icePropertiesInitialized ()

Protected Member Functions inherited from ManagedIceObject
template<class PluginT, class... ParamsT>
PluginT *	addPlugin (const std::string prefix="", ParamsT &&... params)

template<class PluginT, class... ParamsT>
void	addPlugin (PluginT *&targ, const std::string prefix="", ParamsT &&... params)

template<class PluginT, class... ParamsT>
void	addPlugin (std::experimental::observer_ptr< PluginT > &targ, const std::string prefix="", ParamsT &&... params)

Ice::CommunicatorPtr	getCommunicator () const

std::unique_ptr< ManagedIceObjectPlugin > &	getPluginPointer (std::type_info const &type, std::string const &prefix)

	ManagedIceObject ()
	Protected default constructor.

virtual void	postOnConnectComponent ()

virtual void	postOnDisconnectComponent ()

virtual void	postOnExitComponent ()

virtual void	postOnInitComponent ()

virtual void	preOnDisconnectComponent ()

virtual void	preOnExitComponent ()

bool	removeProxyDependency (const std::string &name)
	This function removes the dependency of this object on the in parameter name specified object.

void	setName (std::string name)
	Override name of well-known object.

void	terminate ()
	Initiates termination of this IceManagedObject.

	~ManagedIceObject () override

Protected Member Functions inherited from Logging
bool	checkLogLevel (MessageTypeT level) const

const LogSenderPtr &	getLogSender () const
	Retrieve log sender.

LogSenderPtr	loghelper (const char file, int line, const char function) const

Protected Attributes
std::map< std::string, std::vector< std::string > >	classInstanceMap
	Stores all instances that belong to a class.

std::string	commonStorageName

std::condition_variable	condSimulatorThreadRunning

std::string	contactLayerName

float	currentComTimeMS = 0
	Stores the time that was needed for communictaion.

float	currentSimTimeMS = 0
	Stores the time that was needed to perform the last simulation loop.

float	currentSyncTimeMS = 0
	stores the time that was needed to sync the data

memoryx::EntityDrawerInterfacePrx	entityDrawerPrx
	Drawing contacts.

memoryx::GridFileManagerPtr	fileManager

GlobalRobotPoseLocalizationListenerPrx	globalRobotLocalization

int	lastPublishedContacts = 0

memoryx::LongtermMemoryInterfacePrx	longtermMemoryPrx

memoryx::WorkingMemoryInterfacePrx	memoryPrx

ObjectFinder	objectFinder
	Constructed once based on the `ObjectPackage` property.

SimulatedWorldPtr	physicsWorld

std::string	priorKnowledgeName

memoryx::PriorKnowledgeInterfacePrx	priorKnowledgePrx

bool	publishContacts = false

PeriodicTask< Simulator >::pointer_type	reportDataTask
	The report data task.

bool	reportRobotPose = false

PeriodicTask< Simulator >::pointer_type	reportVisuTask
	The report visu task.

std::atomic< float >	reportVisuTimeMS = 0

PeriodicTask< Simulator >::pointer_type	simulationTask
	The sim task.

SimulatorResetEventPrx	simulatorResetEventTopic

std::mutex	simulatorRunningMutex

bool	simulatorThreadRunning = false

bool	simulatorThreadShutdown = false

SimulatorListenerInterfacePrx	simulatorVisuUpdateListenerPrx

SimulatorTimeServerProxyPtr	timeserverProxy
	Proxy object to offer the Timeserver proxy.

float	timeServerSpeed = 0
	Scaling factor for the passing of time.

TimeServerListenerPrx	timeTopicPrx

Protected Attributes inherited from Logging
MessageTypeT	minimumLoggingLevel

SpamFilterDataPtr	spamFilter

LogTag	tag

Additional Inherited Members
Public Types inherited from ManagedIceObject
using	PeriodicTaskPtr = IceUtil::Handle<SimplePeriodicTask<std::function<void(void)>>>

Static Public Attributes inherited from ManagedIceObject
static const ManagedIceObjectPtr	NullPtr
	A nullptr to be used when a const ref to a nullptr is required.

Detailed Description

The Simulator class holds an instance of the AmrarXPhysicsWorld and communicates to ArmarX.

The following optional parameters can be used.

RobotFileName
Simox/VirtualRobot robot file name, e.g. robot_model.xml.
InitialRobotPose.x/y/z/roll/pitch/yaw
The initial pose of the robot
LogRobot
Default: false, If true, the complete robot state is logged to a file.
RobotControllerPID.p/i/d
Setup robot controllers: PID paramters
LongtermMemory.SnapshotName
Name of snapshot to load the scene
SceneFileName
Simox/VirtualRobot scene file name, e.g. myScene.xml. Usually, sceneas are loaded via MemoryX-snapshots, but in order to test a setup, a scene can be imported directly.
FloorPlane
Indicates if the should be created or not. Default: true.
FloorTexture
The texture file for the floor. By default, a standard texture is used
FixedTimeStepLoopNrSteps
The maximal number of internal simulation loops (fixed time step mode). After the maximum number of internal steps is performed, the simulator interpolates the remaining time.
FixedTimeStepStepTimeMS
The simulation's internal timestep (fixed time step mode)
ReportVisuFrequency
How often should the visualization data be published. Value is given in Hz. (0 to disable, default: 30)
ReportVisuTopicName
The topic on which the visualization updates are published. Default: ReportVisuTopicName
ReportDataFrequency
How often should the robot data be published. Value is given in Hz. (0 to disable, default: 30)

Constructor & Destructor Documentation

◆ Simulator()

Simulator ( )

◆ ~Simulator()

~Simulator ( )

override

Member Function Documentation

◆ activateObject()

void activateObject	(	const std::string &	objectName,
		const Ice::Current &	c = Ice::emptyCurrent )

override

◆ actuateRobotJoints()

void actuateRobotJoints	(	const std::string &	robotName,
		const NameValueMap &	angles,
		const NameValueMap &	velocities,
		const Ice::Current &	c = Ice::emptyCurrent )

override

◆ actuateRobotJointsPos()

void actuateRobotJointsPos	(	const std::string &	robotName,
		const NameValueMap &	angles,
		const Ice::Current &	c = Ice::emptyCurrent )

override

◆ actuateRobotJointsTorque()

void actuateRobotJointsTorque	(	const std::string &	robotName,
		const NameValueMap &	torques,
		const Ice::Current &	c = Ice::emptyCurrent )

override

◆ actuateRobotJointsVel()

void actuateRobotJointsVel	(	const std::string &	robotName,
		const NameValueMap &	velocities,
		const Ice::Current &	c = Ice::emptyCurrent )

override

◆ addBox()

void addBox	(	float	width,
		float	height,
		float	depth,
		float	massKG,
		const DrawColor &	color,
		const std::string &	instanceName,
		const PoseBasePtr &	globalPose,
		bool	isStatic = false,
		const Ice::Current &	c = Ice::emptyCurrent )

override

◆ addObject()

void addObject	(	const memoryx::ObjectClassBasePtr &	objectClassBase,
		const std::string &	instanceName,
		const PoseBasePtr &	globalPose,
		bool	isStatic = false,
		const Ice::Current &	c = Ice::emptyCurrent )

override

◆ addObjectFromFile()

void addObjectFromFile	(	const armarx::data::PackagePath &	packagePath,
		const std::string &	instanceName,
		const PoseBasePtr &	globalPose,
		bool	isStatic = false,
		const Ice::Current &	c = Ice::emptyCurrent )

override

◆ addRobot() [1/2]

std::string addRobot	(	const std::string &	filename,
		const Ice::Current &	c = Ice::emptyCurrent )

override

◆ addRobot() [2/2]

std::string addRobot	(	std::string	robotInstanceName,
		const std::string &	robFileGlobal,
		Eigen::Matrix4f	gp,
		const std::string &	robFile,
		double	pid_p = 10.0,
		double	pid_i = 0.0,
		double	pid_d = 0.0,
		bool	isStatic = false,
		float	scaling = 1,
		bool	colModel = false,
		std::map< std::string, float >	initConfig = std::map<std::string, float>(),
		bool	selfCollisions = false )

protected

Returns the name. On failure an empty string is returned.

◆ addRobotFromFile()

std::string addRobotFromFile	(	const armarx::data::PackagePath &	packagePath,
		const Ice::Current &	c = Ice::emptyCurrent )

override

◆ addScaledRobot()

std::string addScaledRobot	(	const std::string &	filename,
		float	scale,
		const Ice::Current &	c = Ice::emptyCurrent )

override

◆ addScaledRobotName()

std::string addScaledRobotName	(	const std::string &	instanceName,
		const std::string &	filename,
		float	scale,
		const Ice::Current &	c = Ice::emptyCurrent )

override

◆ addSnapshot()

bool addSnapshot ( memoryx::WorkingMemorySnapshotInterfacePrx snapshotInterfacePrx )

◆ applyForceObject()

void applyForceObject	(	const std::string &	objectName,
		const Vector3BasePtr &	force,
		const Ice::Current &	c = Ice::emptyCurrent )

override

◆ applyForceRobotNode()

void applyForceRobotNode	(	const std::string &	robotName,
		const std::string &	robotNodeName,
		const Vector3BasePtr &	force,
		const Ice::Current &	c = Ice::emptyCurrent )

override

◆ applyTorqueObject()

void applyTorqueObject	(	const std::string &	objectName,
		const Vector3BasePtr &	torque,
		const Ice::Current &	c = Ice::emptyCurrent )

override

◆ applyTorqueRobotNode()

void applyTorqueRobotNode	(	const std::string &	robotName,
		const std::string &	robotNodeName,
		const Vector3BasePtr &	torque,
		const Ice::Current &	c = Ice::emptyCurrent )

override

◆ createPropertyDefinitions()

PropertyDefinitionsPtr createPropertyDefinitions ( )

inlineoverridevirtual

See also: PropertyUser::createPropertyDefinitions()

Reimplemented from Component.

◆ getContacts()

ContactInfoSequence getContacts ( const Ice::Current & c = Ice::emptyCurrent )

override

Returns a list of all contacts. Note that you must call updateContacts() first to enable contacts handling.

◆ GetDefaultName()

std::string GetDefaultName ( )

static

◆ getDefaultName()

std::string getDefaultName ( ) const

overridevirtual

Retrieve default name of component.

Implement this method in each IceManagedObject. The default name of a is used if no name is specified in the factory method.

Returns: default name of the component (e.g. "KinematicUnit")

Implements ManagedIceObject.

◆ getDistance()

DistanceInfo getDistance	(	const std::string &	robotName,
		const std::string &	robotNodeName,
		const std::string &	worldObjectName,
		const Ice::Current &	c = Ice::emptyCurrent )

override

◆ getFixedTimeStepMS()

int getFixedTimeStepMS ( const Ice::Current & c = Ice::emptyCurrent )

override

Returns: The number of steps * the timestep in MS

◆ getObjectClassPoses()

ObjectClassInformationSequence getObjectClassPoses	(	const std::string &	robotName,
		const std::string &	frameName,
		const std::string &	className,
		const Ice::Current &	c = Ice::emptyCurrent )

override

◆ getObjectPose()

PoseBasePtr getObjectPose	(	const std::string &	objectName,
		const Ice::Current &	c = Ice::emptyCurrent )

override

◆ getRobotAngularVelocity()

Vector3BasePtr getRobotAngularVelocity	(	const std::string &	robotName,
		const std::string &	nodeName,
		const Ice::Current &	c = Ice::emptyCurrent )

override

◆ getRobotForceTorqueSensors()

ForceTorqueDataSeq getRobotForceTorqueSensors	(	const std::string &	robotName,
		const Ice::Current &	c = Ice::emptyCurrent )

override

◆ getRobotJointAngle()

float getRobotJointAngle	(	const std::string &	robotName,
		const std::string &	nodeName,
		const Ice::Current &	c = Ice::emptyCurrent )

override

◆ getRobotJointAngles()

NameValueMap getRobotJointAngles	(	const std::string &	robotName,
		const Ice::Current &	c = Ice::emptyCurrent )

override

◆ getRobotJointLimitHi()

float getRobotJointLimitHi	(	const std::string &	robotName,
		const std::string &	nodeName,
		const Ice::Current &	c = Ice::emptyCurrent )

override

◆ getRobotJointLimitLo()

float getRobotJointLimitLo	(	const std::string &	robotName,
		const std::string &	nodeName,
		const Ice::Current &	c = Ice::emptyCurrent )

override

◆ getRobotJointTorques()

NameValueMap getRobotJointTorques	(	const std::string &	robotName,
		const Ice::Current &	c = Ice::emptyCurrent )

override

◆ getRobotJointVelocities()

NameValueMap getRobotJointVelocities	(	const std::string &	robotName,
		const Ice::Current &	c = Ice::emptyCurrent )

override

◆ getRobotJointVelocity()

float getRobotJointVelocity	(	const std::string &	robotName,
		const std::string &	nodeName,
		const Ice::Current &	c = Ice::emptyCurrent )

override

◆ getRobotLinearVelocity()

Vector3BasePtr getRobotLinearVelocity	(	const std::string &	robotName,
		const std::string &	nodeName,
		const Ice::Current &	c = Ice::emptyCurrent )

override

◆ getRobotMass()

float getRobotMass	(	const std::string &	robotName,
		const Ice::Current &	c = Ice::emptyCurrent )

override

◆ getRobotMaxTorque()

float getRobotMaxTorque	(	const std::string &	robotName,
		const std::string &	nodeName,
		const Ice::Current &	c = Ice::emptyCurrent )

override

◆ getRobotNames()

Ice::StringSeq getRobotNames ( const Ice::Current & )

override

◆ getRobotNodeDistance()

DistanceInfo getRobotNodeDistance	(	const std::string &	robotName,
		const std::string &	robotNodeName1,
		const std::string &	robotNodeName2,
		const Ice::Current &	c = Ice::emptyCurrent )

override

◆ getRobotNodePose()

PoseBasePtr getRobotNodePose	(	const std::string &	robotName,
		const std::string &	robotNodeName,
		const Ice::Current &	c = Ice::emptyCurrent )

override

◆ getRobotPose()

PoseBasePtr getRobotPose	(	const std::string &	robotName,
		const Ice::Current &	c = Ice::emptyCurrent )

override

◆ getRobotState()

SimulatedRobotState getRobotState	(	const std::string &	robotName,
		const Ice::Current &	)

override

◆ getScene()

SceneVisuData getScene ( const Ice::Current & c = Ice::emptyCurrent )

override

◆ getSimTime()

float getSimTime ( const Ice::Current & c = Ice::emptyCurrent )

override

◆ getSimulatorInformation()

SimulatorInformation getSimulatorInformation ( const ::Ice::Current & = Ice::emptyCurrent )

override

◆ getSpeed()

Ice::Float getSpeed ( const Ice::Current & c = Ice::emptyCurrent )

override

◆ getStepTimeMS()

Ice::Int getStepTimeMS ( const ::Ice::Current & = Ice::emptyCurrent )

override

◆ getTime()

Ice::Long getTime ( const Ice::Current & c = Ice::emptyCurrent )

override

◆ hasObject()

bool hasObject	(	const std::string &	instanceName,
		const Ice::Current &	c = Ice::emptyCurrent )

override

◆ hasRobot()

bool hasRobot	(	const std::string &	robotName,
		const Ice::Current &	c = Ice::emptyCurrent )

override

◆ hasRobotNode()

bool hasRobotNode	(	const std::string &	robotName,
		const std::string &	robotNodeName,
		const Ice::Current &	c = Ice::emptyCurrent )

override

◆ initializeData()

void initializeData ( )

protected

◆ isRunning()

bool isRunning ( const Ice::Current & c = Ice::emptyCurrent )

override

◆ loadAgentsFromSnapshot()

bool loadAgentsFromSnapshot ( memoryx::WorkingMemorySnapshotInterfacePrx snapshotInterfacePrx )

◆ objectGrasped()

void objectGrasped	(	const std::string &	robotName,
		const std::string &	robotNodeName,
		const std::string &	objectName,
		const Ice::Current &	c = Ice::emptyCurrent )

override

create a joint

◆ objectReleased()

void objectReleased	(	const std::string &	robotName,
		const std::string &	robotNodeName,
		const std::string &	objectName,
		const Ice::Current &	c = Ice::emptyCurrent )

override

remove a joint

◆ onConnectComponent()

void onConnectComponent ( )

overridevirtual

Pure virtual hook for the subclass.

Is called once all dependencies of the object have been resolved and Ice connection is established. This hook is called whenever the dependencies are found. That means if the a depedency crashes or shuts down, the ManagedIceObject goes into disconnected state. When the dependencies are found again, this hook is called again.

See also: onDisconnectComponent()

Implements ManagedIceObject.

◆ onDisconnectComponent()

void onDisconnectComponent ( )

overridevirtual

Hook for subclass.

Is called if a dependency of the object got lost (crash, network error, stopped, ...). This hook should be the inverse to onConnectComponent(). So that onDisconnectComponent() and onConnectComponent() can be called alternatingly and the ManagedIceObject remains in valid states. *

See also: onConnectComponent

Reimplemented from ManagedIceObject.

◆ onExitComponent()

void onExitComponent ( )

overridevirtual

Hook for subclass.

Is called once the component terminates. Use for cleanup. Only called once.

Reimplemented from ManagedIceObject.

◆ onInitComponent()

void onInitComponent ( )

overridevirtual

Pure virtual hook for the subclass.

Is called once initialization of the ManagedIceObject is done. This hook is called in the implenting class once and never again during the lifecyle of the object. This function is called as soon as the ManagedIceObject was added to the ArmarXManager. Called in an own thread and not the thread it was created in.

Implements ManagedIceObject.

◆ pause()

void pause ( const Ice::Current & c = Ice::emptyCurrent )

override

◆ reInitialize()

void reInitialize ( const Ice::Current & c = Ice::emptyCurrent )

override

reInitialize Re-initializes the scene. Removes all robots and objects (and, in case the scene was loaded via a MemoryX snapshot, the working memory is cleared) Then, the setup is re-loaded similar to the startup procedure.

◆ removeObject()

void removeObject	(	const std::string &	instanceName,
		const Ice::Current &	)

override

◆ removeRobot()

bool removeRobot	(	const std::string &	robotName,
		const Ice::Current &	c = Ice::emptyCurrent )

◆ reportDataLoop()

void reportDataLoop ( )

protected

◆ reportVisuLoop()

void reportVisuLoop ( )

protected

◆ requestFileManager()

memoryx::GridFileManagerPtr requestFileManager ( )

protected

◆ resetData()

void resetData ( bool clearWorkingMemory = false )

protected

resetData Clears all data

Parameters

clearWorkingMemory If set, the working memory is also cleared.

◆ run()

void run ( )

override

◆ setObjectPose()

void setObjectPose	(	const std::string &	objectName,
		const PoseBasePtr &	globalPose,
		const Ice::Current &	c = Ice::emptyCurrent )

override

◆ setObjectSimulationType()

void setObjectSimulationType	(	const std::string &	objectName,
		armarx::SimulationType	type,
		const Ice::Current &	c = Ice::emptyCurrent )

override

◆ setRobotAngularVelocity()

void setRobotAngularVelocity	(	const std::string &	robotName,
		const std::string &	robotNodeName,
		const Vector3BasePtr &	vel,
		const Ice::Current &	c = Ice::emptyCurrent )

override

◆ setRobotAngularVelocityRobotRootFrame()

void setRobotAngularVelocityRobotRootFrame	(	const std::string &	robotName,
		const std::string &	robotNodeName,
		const Vector3BasePtr &	vel,
		const Ice::Current &	c = Ice::emptyCurrent )

override

◆ setRobotLinearVelocity()

void setRobotLinearVelocity	(	const std::string &	robotName,
		const std::string &	robotNodeName,
		const Vector3BasePtr &	vel,
		const Ice::Current &	c = Ice::emptyCurrent )

override

◆ setRobotLinearVelocityRobotRootFrame()

void setRobotLinearVelocityRobotRootFrame	(	const std::string &	robotName,
		const std::string &	robotNodeName,
		const Vector3BasePtr &	vel,
		const Ice::Current &	c = Ice::emptyCurrent )

override

◆ setRobotMaxTorque()

void setRobotMaxTorque	(	const std::string &	robotName,
		const std::string &	nodeName,
		float	maxTorque,
		const Ice::Current &	c = Ice::emptyCurrent )

override

◆ setRobotPose()

void setRobotPose	(	const std::string &	robotName,
		const PoseBasePtr &	globalPose,
		const Ice::Current &	c = Ice::emptyCurrent )

override

◆ setSpeed()

void setSpeed	(	Ice::Float	newSpeed,
		const Ice::Current &	c = Ice::emptyCurrent )

override

setSpeed sets the scaling factor for the speed of passing of time e.g.

setSpeed(2) leads to 2 virtual seconds passing every 1 real second (provided the simulation is able to keep up)

Parameters

newSpeed new scaling factor for speed

◆ showContacts()

void showContacts	(	bool	enable,
		const std::string &	layerName,
		const Ice::Current &	c = Ice::emptyCurrent )

override

◆ shutdownSimulationLoop()

void shutdownSimulationLoop ( )

protected

stop the simulation and join the simulation thread

◆ simulationLoop()

void simulationLoop ( )

protected

◆ start()

void start ( const Ice::Current & c = Ice::emptyCurrent )

override

◆ stateFromRobotInfo()

SimulatedRobotState stateFromRobotInfo	(	RobotInfo const &	robot,
		IceUtil::Time	timestamp )

protected

◆ step()

void step ( const Ice::Current & c = Ice::emptyCurrent )

override

◆ stop()

void stop ( const Ice::Current & c = Ice::emptyCurrent )

override

◆ updateContacts()

void updateContacts	(	bool	enable,
		const Ice::Current &	c = Ice::emptyCurrent )

override

Enables the handling of contacts. If you intend to use getContacts(), call this method with enabled = true first.

◆ updateRobotTopics()

bool updateRobotTopics ( )

protected

Member Data Documentation

◆ classInstanceMap

std::map<std::string, std::vector<std::string> > classInstanceMap

protected

Stores all instances that belong to a class.

◆ commonStorageName

std::string commonStorageName

protected

◆ condSimulatorThreadRunning

std::condition_variable condSimulatorThreadRunning

protected

◆ contactLayerName

std::string contactLayerName

protected

◆ currentComTimeMS

float currentComTimeMS = 0

protected

Stores the time that was needed for communictaion.

◆ currentSimTimeMS

float currentSimTimeMS = 0

protected

Stores the time that was needed to perform the last simulation loop.

◆ currentSyncTimeMS

float currentSyncTimeMS = 0

protected

stores the time that was needed to sync the data

◆ entityDrawerPrx

memoryx::EntityDrawerInterfacePrx entityDrawerPrx

protected

Drawing contacts.

◆ fileManager

memoryx::GridFileManagerPtr fileManager

protected

◆ globalRobotLocalization

GlobalRobotPoseLocalizationListenerPrx globalRobotLocalization

protected

◆ lastPublishedContacts

int lastPublishedContacts = 0

protected

◆ longtermMemoryPrx

memoryx::LongtermMemoryInterfacePrx longtermMemoryPrx

protected

◆ memoryPrx

memoryx::WorkingMemoryInterfacePrx memoryPrx

protected

◆ objectFinder

ObjectFinder objectFinder

protected

Constructed once based on the ObjectPackage property.

◆ physicsWorld

SimulatedWorldPtr physicsWorld

protected

◆ priorKnowledgeName

std::string priorKnowledgeName

protected

◆ priorKnowledgePrx

memoryx::PriorKnowledgeInterfacePrx priorKnowledgePrx

protected

◆ publishContacts

bool publishContacts = false

protected

◆ reportDataTask

PeriodicTask<Simulator>::pointer_type reportDataTask

protected

The report data task.

◆ reportRobotPose

bool reportRobotPose = false

protected

◆ reportVisuTask

PeriodicTask<Simulator>::pointer_type reportVisuTask

protected

The report visu task.

◆ reportVisuTimeMS

std::atomic<float> reportVisuTimeMS = 0

protected

◆ simulationTask

PeriodicTask<Simulator>::pointer_type simulationTask

protected

The sim task.

◆ simulatorResetEventTopic

SimulatorResetEventPrx simulatorResetEventTopic

protected

◆ simulatorRunningMutex

std::mutex simulatorRunningMutex

protected

◆ simulatorThreadRunning

bool simulatorThreadRunning = false

protected

◆ simulatorThreadShutdown

bool simulatorThreadShutdown = false

protected

◆ simulatorVisuUpdateListenerPrx

SimulatorListenerInterfacePrx simulatorVisuUpdateListenerPrx

protected

◆ timeserverProxy

SimulatorTimeServerProxyPtr timeserverProxy

protected

Proxy object to offer the Timeserver proxy.

This is a hack to allow offering the proxies "Simulator" and "MasterTimeServer" at once

◆ timeServerSpeed

float timeServerSpeed = 0

protected

Scaling factor for the passing of time.

◆ timeTopicPrx

TimeServerListenerPrx timeTopicPrx

protected

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

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

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Simulator()

◆ ~Simulator()

Member Function Documentation

◆ activateObject()

◆ actuateRobotJoints()

◆ actuateRobotJointsPos()

◆ actuateRobotJointsTorque()

◆ actuateRobotJointsVel()

◆ addBox()

◆ addObject()

◆ addObjectFromFile()

◆ addRobot() [1/2]

◆ addRobot() [2/2]

◆ addRobotFromFile()

◆ addScaledRobot()

◆ addScaledRobotName()

◆ addSnapshot()

◆ applyForceObject()

◆ applyForceRobotNode()

◆ applyTorqueObject()

◆ applyTorqueRobotNode()

◆ createPropertyDefinitions()

◆ getContacts()

◆ GetDefaultName()

◆ getDefaultName()

◆ getDistance()

◆ getFixedTimeStepMS()

◆ getObjectClassPoses()

◆ getObjectPose()

◆ getRobotAngularVelocity()

◆ getRobotForceTorqueSensors()

◆ getRobotJointAngle()

◆ getRobotJointAngles()

◆ getRobotJointLimitHi()

◆ getRobotJointLimitLo()

◆ getRobotJointTorques()

◆ getRobotJointVelocities()

◆ getRobotJointVelocity()

◆ getRobotLinearVelocity()

◆ getRobotMass()

◆ getRobotMaxTorque()

◆ getRobotNames()

◆ getRobotNodeDistance()

◆ getRobotNodePose()

◆ getRobotPose()

◆ getRobotState()

◆ getScene()

◆ getSimTime()

◆ getSimulatorInformation()

◆ getSpeed()

◆ getStepTimeMS()

◆ getTime()

◆ hasObject()

◆ hasRobot()

◆ hasRobotNode()

◆ initializeData()

◆ isRunning()

◆ loadAgentsFromSnapshot()

◆ objectGrasped()

◆ objectReleased()

◆ onConnectComponent()

◆ onDisconnectComponent()

◆ onExitComponent()

◆ onInitComponent()

◆ pause()

◆ reInitialize()

◆ removeObject()

◆ removeRobot()

◆ reportDataLoop()

◆ reportVisuLoop()

◆ requestFileManager()

◆ resetData()

◆ run()