KinematicsWorld Class Reference

The KinematicsWorld class encapsulates the kinemtics simulation and the corresponding data. All real physics simulation is either approximated through simple kinemtics or disabled. More...

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

Inheritance diagram for KinematicsWorld:

Classes
struct	KinematicRobotInfo

Public Member Functions
void	actuateRobotJoints (const std::string &robotName, const std::map< std::string, float > &angles, const std::map< std::string, float > &velocities) override
	ignoring velocity target
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
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
std::vector< SimDynamics::DynamicsEngine::DynamicsContactInfo >	copyContacts () override
void	enableLogging (const std::string &robotName, const std::string &logFile) override
armarx::DistanceInfo	getDistance (const std::string &robotName, const std::string &robotNodeName, const std::string &worldObjectName) override
int	getFixedTimeStepMS () override
virtual VirtualRobot::SceneObjectPtr	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 &) 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 &) 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, float maxRealTimeSimSpeed=1, bool floorPlane=false, std::string floorTexture=std::string())
	KinematicsWorld ()
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.
void	stepPhysicsRealTime () override
	Perform one simulation step.
FramedPosePtr	toFramedPose (const Eigen::Matrix4f &globalPose, const std::string &robotName, const std::string &frameName) override
	toFramedPose Constructs a framed pose
	~KinematicsWorld () override
Public Member Functions inherited from SimulatedWorld
virtual void	activateObject (const std::string &objectName)
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).
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.
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).
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
virtual int	getContactCount ()
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
virtual float	getSimulationStepTimeMeasured ()
	getSimulationStepTimeMeasured
virtual float	getSyncEngineTime ()
virtual void	objectGrasped (const std::string &robotName, const std::string &robotNodeName, const std::string &objectName)
	create a joint
virtual void	objectReleased (const std::string &robotName, const std::string &robotNodeName, const std::string &objectName)
	remove a joint
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
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.
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.
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 ()

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
void	calculateActualVelocities ()
virtual void	createFloorPlane (const Eigen::Vector3f &pos, const Eigen::Vector3f &up)
float	getDeltaTimeMilli ()
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
bool	objectReleasedEngine (const std::string &robotName, const std::string &robotNodeName, const std::string &objectName) override
	remove a joint
bool	removeObstacleEngine (const std::string &name) override
bool	removeRobotEngine (const std::string &robotName) override
void	setupFloorEngine (bool enable, const std::string &floorTexture) override
void	stepStaticObjects (double deltaInSeconds)
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.
LogSenderPtr	loghelper (const char *file, int line, const char *function) const

Protected Attributes
std::map< VirtualRobot::RobotPtr, std::pair< IceUtil::Time, Eigen::Matrix4f > >	angularVelocityFilters
VirtualRobot::SceneObjectPtr	floor
double	floorDepthMM
double	floorExtendMM
Eigen::Vector3f	floorPos
Eigen::Vector3f	floorUp
VirtualRobot::ObstaclePtr	groundObject
std::map< VirtualRobot::RobotNodePtr, std::pair< IceUtil::Time, float > >	jointAngleDerivationFilters
std::vector< VirtualRobot::SceneObjectPtr >	kinematicObjects
std::map< std::string, KinematicRobotInfo >	kinematicRobots
IceUtil::Time	lastTime
std::map< VirtualRobot::RobotPtr, std::pair< IceUtil::Time, Eigen::Vector3f > >	linearVelocityFilters
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 KinematicsWorld class encapsulates the kinemtics simulation and the corresponding data. All real physics simulation is either approximated through simple kinemtics or disabled.

Constructor & Destructor Documentation

KinematicsWorld()

KinematicsWorld

(

)

~KinematicsWorld()

~KinematicsWorld ( )

overridedefault

Member Function Documentation

actuateRobotJoints()

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

overridevirtual

ignoring velocity target

Implements SimulatedWorld.

actuateRobotJointsPos()

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

overridevirtual

Implements SimulatedWorld.

actuateRobotJointsTorque()

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

overridevirtual

Implements SimulatedWorld.

actuateRobotJointsVel()

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

overridevirtual

Implements SimulatedWorld.

addObstacleEngine()

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

overrideprotectedvirtual

Implements SimulatedWorld.

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.

applyForceObject()

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

overridevirtual

Implements SimulatedWorld.

applyForceRobotNode()

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

overridevirtual

Implements SimulatedWorld.

applyTorqueObject()

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

overridevirtual

Implements SimulatedWorld.

applyTorqueRobotNode()

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

overridevirtual

Implements SimulatedWorld.

calculateActualVelocities()

void calculateActualVelocities ( )

protected

copyContacts()

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

overridevirtual

Implements SimulatedWorld.

createFloorPlane()

void createFloorPlane ( const Eigen::Vector3f & pos, const Eigen::Vector3f & up )

protectedvirtual

enableLogging()

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

overridevirtual

Reimplemented from SimulatedWorld.

getDeltaTimeMilli()

float getDeltaTimeMilli ( )

protected

getDistance()

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

overridevirtual

Implements SimulatedWorld.

getFixedTimeStepMS()

int getFixedTimeStepMS ( )

overridevirtual

Returns

The number of steps * the timestep in MS

Implements SimulatedWorld.

getFloor()

SceneObjectPtr getFloor ( )

overrideprotectedvirtual

Implements SimulatedWorld.

getObject()

VirtualRobot::SceneObjectPtr getObject ( const std::string & objectName )

virtual

getObjectPose()

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

overridevirtual

Implements SimulatedWorld.

getObjects()

std::vector< SceneObjectPtr > getObjects ( )

overridevirtual

Implements SimulatedWorld.

getObstacleNames()

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

overridevirtual

Implements SimulatedWorld.

getRobot()

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

overridevirtual

Implements SimulatedWorld.

getRobotAngularVelocity()

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

overridevirtual

Implements SimulatedWorld.

getRobotForceTorqueSensors()

ForceTorqueDataSeq getRobotForceTorqueSensors ( const std::string & )

overridevirtual

Implements SimulatedWorld.

getRobotJointAngle()

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

overridevirtual

Implements SimulatedWorld.

getRobotJointAngles()

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

overridevirtual

Implements SimulatedWorld.

getRobotJointLimitHi()

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

overridevirtual

Implements SimulatedWorld.

getRobotJointLimitLo()

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

overridevirtual

Implements SimulatedWorld.

getRobotJointTorques()

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

overridevirtual

Implements SimulatedWorld.

getRobotJointVelocities()

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

overridevirtual

Implements SimulatedWorld.

getRobotJointVelocity()

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

overridevirtual

Implements SimulatedWorld.

getRobotLinearVelocity()

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

overridevirtual

Implements SimulatedWorld.

getRobotMass()

float getRobotMass ( const std::string & robotName )

overridevirtual

Implements SimulatedWorld.

getRobotMaxTorque()

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

overridevirtual

Implements SimulatedWorld.

getRobotNames()

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

overridevirtual

Implements SimulatedWorld.

getRobotNodeDistance()

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

overridevirtual

Implements SimulatedWorld.

getRobotNodePose()

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

overridevirtual

Implements SimulatedWorld.

getRobotPose()

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

overridevirtual

Implements SimulatedWorld.

getRobots()

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

overridevirtual

Implements SimulatedWorld.

getRobotStatus()

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

overrideprotectedvirtual

Implements SimulatedWorld.

hasObject()

bool hasObject ( const std::string & instanceName )

overridevirtual

Implements SimulatedWorld.

hasRobot()

bool hasRobot ( const std::string & robotName )

overridevirtual

Implements SimulatedWorld.

hasRobotNode()

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

overridevirtual

Implements SimulatedWorld.

initialize()

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

virtual

objectGraspedEngine()

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

overrideprotectedvirtual

create a joint

Implements SimulatedWorld.

objectReleasedEngine()

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

overrideprotectedvirtual

remove a joint

Implements SimulatedWorld.

removeObstacleEngine()

bool removeObstacleEngine ( const std::string & name )

overrideprotectedvirtual

Implements SimulatedWorld.

removeRobotEngine()

bool removeRobotEngine ( const std::string & robotName )

overrideprotectedvirtual

Implements SimulatedWorld.

setObjectPose()

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

overridevirtual

Implements SimulatedWorld.

setObjectSimType()

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

overridevirtual

Implements SimulatedWorld.

setRobotAngularVelocity()

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

overridevirtual

Implements SimulatedWorld.

setRobotAngularVelocityRobotRootFrame()

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

overridevirtual

Implements SimulatedWorld.

setRobotLinearVelocity()

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

overridevirtual

Implements SimulatedWorld.

setRobotLinearVelocityRobotRootFrame()

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

overridevirtual

Implements SimulatedWorld.

setRobotMaxTorque()

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

overridevirtual

Implements SimulatedWorld.

setRobotNodeSimType()

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

overridevirtual

Implements SimulatedWorld.

setRobotPose()

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

overridevirtual

Implements SimulatedWorld.

setupFloorEngine()

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

overrideprotectedvirtual

Implements SimulatedWorld.

stepPhysicsFixedTimeStep()

void stepPhysicsFixedTimeStep ( )

overridevirtual

Perform one simulation step.

This updates all models.

Implements SimulatedWorld.

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.

stepStaticObjects()

void stepStaticObjects ( double deltaInSeconds )

protected

stepStaticRobots()

void stepStaticRobots ( double deltaInSeconds )

protected

synchronizeObjects()

bool synchronizeObjects ( )

overrideprotectedvirtual

Implements SimulatedWorld.

synchronizeRobotNodePoses()

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

overrideprotectedvirtual

Implements SimulatedWorld.

synchronizeSceneObjectPoses()

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

overrideprotectedvirtual

Implements SimulatedWorld.

synchronizeSimulationDataEngine()

bool synchronizeSimulationDataEngine ( )

overrideprotectedvirtual

Implements SimulatedWorld.

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.

updateForceTorqueSensor()

bool updateForceTorqueSensor ( ForceTorqueInfo & ftInfo )

overrideprotectedvirtual

Implements SimulatedWorld.

Member Data Documentation

angularVelocityFilters

std::map<VirtualRobot::RobotPtr, std::pair<IceUtil::Time, Eigen::Matrix4f> > angularVelocityFilters

protected

floor

VirtualRobot::SceneObjectPtr floor

protected

floorDepthMM

double floorDepthMM

protected

floorExtendMM

double floorExtendMM

protected

floorPos

Eigen::Vector3f floorPos

protected

floorUp

Eigen::Vector3f floorUp

protected

groundObject

VirtualRobot::ObstaclePtr groundObject

protected

jointAngleDerivationFilters

std::map<VirtualRobot::RobotNodePtr, std::pair<IceUtil::Time, float> > jointAngleDerivationFilters

protected

kinematicObjects

std::vector<VirtualRobot::SceneObjectPtr> kinematicObjects

protected

kinematicRobots

std::map<std::string, KinematicRobotInfo> kinematicRobots

protected

lastTime

IceUtil::Time lastTime

protected

linearVelocityFilters

std::map<VirtualRobot::RobotPtr, std::pair<IceUtil::Time, Eigen::Vector3f> > linearVelocityFilters

protected

stepSizeMs

int stepSizeMs

protected

---

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

• ArmarXSimulation/components/Simulator/KinematicsWorld.h
• ArmarXSimulation/components/Simulator/KinematicsWorld.cpp