List of all members | Public Member Functions | Protected Member Functions
MujocoPhysicsWorld Class Reference

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

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

+ Inheritance diagram for MujocoPhysicsWorld:

Public Member Functions

virtual void actuateRobotJoints (const std::string &robotName, const std::map< std::string, float > &angles, const std::map< std::string, float > &velocities) override
 
virtual void actuateRobotJointsPos (const std::string &robotName, const std::map< std::string, float > &angles) override
 
virtual void actuateRobotJointsTorque (const std::string &robotName, const std::map< std::string, float > &torques) override
 
virtual void actuateRobotJointsVel (const std::string &robotName, const std::map< std::string, float > &velocities) override
 
virtual void applyForceObject (const std::string &objectName, const Eigen::Vector3f &force) override
 
virtual void applyForceRobotNode (const std::string &robotName, const std::string &robotNodeName, const Eigen::Vector3f &force) override
 
virtual void applyTorqueObject (const std::string &objectName, const Eigen::Vector3f &torque) override
 
virtual void applyTorqueRobotNode (const std::string &robotName, const std::string &robotNodeName, const Eigen::Vector3f &torque) override
 
virtual std::vector< SimDynamics::DynamicsEngine::DynamicsContactInfo > copyContacts () override
 
virtual DistanceInfo getDistance (const std::string &robotName, const std::string &robotNodeName, const std::string &worldObjectName) override
 
virtual int getFixedTimeStepMS () override
 
virtual Eigen::Matrix4f getObjectPose (const std::string &objectName) override
 
virtual std::vector< VirtualRobot::SceneObjectPtr > getObjects () override
 
virtual std::vector< std::string > getObstacleNames () override
 
virtual VirtualRobot::RobotPtr getRobot (const std::string &robotName) override
 
virtual Eigen::Vector3f getRobotAngularVelocity (const std::string &robotName, const std::string &nodeName) override
 
virtual ForceTorqueDataSeq getRobotForceTorqueSensors (const std::string &robotName) override
 
virtual float getRobotJointAngle (const std::string &robotName, const std::string &nodeName) override
 
virtual std::map< std::string, float > getRobotJointAngles (const std::string &robotName) override
 
virtual float getRobotJointLimitHi (const std::string &robotName, const std::string &nodeName) override
 
virtual float getRobotJointLimitLo (const std::string &robotName, const std::string &nodeName) override
 
virtual std::map< std::string, float > getRobotJointTorques (const std::string &robotName) override
 
virtual std::map< std::string, float > getRobotJointVelocities (const std::string &robotName) override
 
virtual float getRobotJointVelocity (const std::string &robotName, const std::string &nodeName) override
 
virtual Eigen::Vector3f getRobotLinearVelocity (const std::string &robotName, const std::string &nodeName) override
 
virtual float getRobotMass (const std::string &robotName) override
 
virtual float getRobotMaxTorque (const std::string &robotName, const std::string &nodeName) override
 
virtual std::vector< std::string > getRobotNames () override
 
virtual DistanceInfo getRobotNodeDistance (const std::string &robotName, const std::string &robotNodeName1, const std::string &robotNodeName2) override
 
virtual Eigen::Matrix4f getRobotNodePose (const std::string &robotName, const std::string &robotNodeName) override
 
virtual Eigen::Matrix4f getRobotPose (const std::string &robotName) override
 
virtual std::map< std::string, VirtualRobot::RobotPtr > getRobots () override
 
virtual bool hasObject (const std::string &instanceName) override
 
virtual bool hasRobot (const std::string &robotName) override
 
virtual bool hasRobotNode (const std::string &robotName, const std::string &robotNodeName) override
 
void initialize (int stepTimeMs, bool floorEnabled, const std::string &floorTexture)
 Initialize *this.
 
 MujocoPhysicsWorld ()
 
virtual void setObjectPose (const std::string &objectName, const Eigen::Matrix4f &globalPose) override
 
virtual void setObjectSimType (const std::string &objectName, VirtualRobot::SceneObject::Physics::SimulationType simType) override
 
virtual void setRobotAngularVelocity (const std::string &robotName, const std::string &robotNodeName, const Eigen::Vector3f &vel) override
 
virtual void setRobotAngularVelocityRobotRootFrame (const std::string &robotName, const std::string &robotNodeName, const Eigen::Vector3f &vel) override
 
virtual void setRobotLinearVelocity (const std::string &robotName, const std::string &robotNodeName, const Eigen::Vector3f &vel) override
 
virtual void setRobotLinearVelocityRobotRootFrame (const std::string &robotName, const std::string &robotNodeName, const Eigen::Vector3f &vel) override
 
virtual void setRobotMaxTorque (const std::string &robotName, const std::string &nodeName, float maxTorque) override
 
virtual void setRobotNodeSimType (const std::string &robotName, const std::string &robotNodeName, VirtualRobot::SceneObject::Physics::SimulationType simType) override
 
virtual void setRobotPose (const std::string &robotName, const Eigen::Matrix4f &globalPose) override
 
virtual void stepPhysicsFixedTimeStep () override
 Perform one simulation step.
 
virtual void stepPhysicsRealTime () override
 Perform one simulation step.
 
virtual FramedPosePtr toFramedPose (const Eigen::Matrix4f &globalPose, const std::string &robotName, const std::string &frameName) override
 toFramedPose Constructs a framed pose
 
virtual ~MujocoPhysicsWorld () override=default
 
- 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 void enableLogging (const std::string &robotName, const std::string &logFile)
 
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

virtual bool addObstacleEngine (VirtualRobot::SceneObjectPtr o, VirtualRobot::SceneObject::Physics::SimulationType simType) override
 
virtual bool addRobotEngine (VirtualRobot::RobotPtr robot, double pid_p, double pid_i, double pid_d, const std::string &filename, bool staticRobot, bool selfCollisions) override
 
virtual int getContactCount () override
 
virtual VirtualRobot::SceneObjectPtr getFloor () override
 
virtual bool getRobotStatus (const std::string &robotName, NameValueMap &jointAngles, NameValueMap &jointVelocities, NameValueMap &jointTorques, Eigen::Vector3f &linearVelocity, Eigen::Vector3f &angularVelocity) override
 
virtual bool objectGraspedEngine (const std::string &robotName, const std::string &robotNodeName, const std::string &objectName, Eigen::Matrix4f &storeLocalTransform) override
 create a joint
 
virtual bool objectReleasedEngine (const std::string &robotName, const std::string &robotNodeName, const std::string &objectName) override
 remove a joint
 
virtual void onLoadModel (mujoco::Model &model) override
 Sets time step and fetches entity IDs.
 
virtual void onMakeData (mujoco::Model &model, mujoco::Data &data) override
 
virtual bool removeObstacleEngine (const std::string &name) override
 
virtual bool removeRobotEngine (const std::string &robotName) override
 
virtual void setupFloorEngine (bool enable, const std::string &floorTexture) override
 
virtual bool synchronizeObjects () override
 
virtual bool synchronizeRobotNodePoses (const std::string &robotName, std::map< std::string, PoseBasePtr > &objMap) override
 
virtual bool synchronizeSceneObjectPoses (VirtualRobot::SceneObjectPtr currentObjEngine, std::map< std::string, PoseBasePtr > &objMap) override
 
virtual bool synchronizeSimulationDataEngine () override
 According to other SimulatedWorlds, this method's only job is to update contacts.
 
virtual bool updateForceTorqueSensor (ForceTorqueInfo &ftInfo) override
 
- Protected Member Functions inherited from SimulatedWorld
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
 
- 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
 

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)
 
- 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
 

Detailed Description

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

Constructor & Destructor Documentation

◆ MujocoPhysicsWorld()

MujocoPhysicsWorld ( )

◆ ~MujocoPhysicsWorld()

virtual ~MujocoPhysicsWorld ( )
overridevirtualdefault

Member Function Documentation

◆ actuateRobotJoints()

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

Implements SimulatedWorld.

◆ actuateRobotJointsPos()

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

Implements SimulatedWorld.

◆ actuateRobotJointsTorque()

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

Implements SimulatedWorld.

◆ actuateRobotJointsVel()

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

Implements SimulatedWorld.

◆ addObstacleEngine()

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

Implements SimulatedWorld.

◆ addRobotEngine()

virtual 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()

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

Implements SimulatedWorld.

◆ applyForceRobotNode()

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

Implements SimulatedWorld.

◆ applyTorqueObject()

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

Implements SimulatedWorld.

◆ applyTorqueRobotNode()

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

Implements SimulatedWorld.

◆ copyContacts()

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

Implements SimulatedWorld.

◆ getContactCount()

virtual int getContactCount ( )
overrideprotectedvirtual

Reimplemented from SimulatedWorld.

◆ getDistance()

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

Implements SimulatedWorld.

◆ getFixedTimeStepMS()

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

Implements SimulatedWorld.

◆ getFloor()

virtual VirtualRobot::SceneObjectPtr getFloor ( )
overrideprotectedvirtual

Implements SimulatedWorld.

◆ getObjectPose()

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

Implements SimulatedWorld.

◆ getObjects()

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

Implements SimulatedWorld.

◆ getObstacleNames()

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

Implements SimulatedWorld.

◆ getRobot()

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

Implements SimulatedWorld.

◆ getRobotAngularVelocity()

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

Implements SimulatedWorld.

◆ getRobotForceTorqueSensors()

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

Implements SimulatedWorld.

◆ getRobotJointAngle()

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

Implements SimulatedWorld.

◆ getRobotJointAngles()

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

Implements SimulatedWorld.

◆ getRobotJointLimitHi()

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

Implements SimulatedWorld.

◆ getRobotJointLimitLo()

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

Implements SimulatedWorld.

◆ getRobotJointTorques()

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

Implements SimulatedWorld.

◆ getRobotJointVelocities()

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

Implements SimulatedWorld.

◆ getRobotJointVelocity()

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

Implements SimulatedWorld.

◆ getRobotLinearVelocity()

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

Implements SimulatedWorld.

◆ getRobotMass()

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

Implements SimulatedWorld.

◆ getRobotMaxTorque()

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

Implements SimulatedWorld.

◆ getRobotNames()

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

Implements SimulatedWorld.

◆ getRobotNodeDistance()

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

Implements SimulatedWorld.

◆ getRobotNodePose()

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

Implements SimulatedWorld.

◆ getRobotPose()

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

Implements SimulatedWorld.

◆ getRobots()

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

Implements SimulatedWorld.

◆ getRobotStatus()

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

Implements SimulatedWorld.

◆ hasObject()

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

Implements SimulatedWorld.

◆ hasRobot()

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

Implements SimulatedWorld.

◆ hasRobotNode()

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

Implements SimulatedWorld.

◆ initialize()

void initialize ( int stepTimeMs,
bool floorEnabled,
const std::string & floorTexture )

Initialize *this.

To be called after construction.

Sets up simulation model document and requests a reload.

Parameters
stepTimeMsThe step time in ms.
floorEnabledWhether to add a floor.
floorTextureThe floor texture file.

◆ objectGraspedEngine()

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

create a joint

Implements SimulatedWorld.

◆ objectReleasedEngine()

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

remove a joint

Implements SimulatedWorld.

◆ onLoadModel()

virtual void onLoadModel ( mujoco::Model & model)
overrideprotectedvirtual

Sets time step and fetches entity IDs.

◆ onMakeData()

virtual void onMakeData ( mujoco::Model & model,
mujoco::Data & data )
overrideprotectedvirtual

◆ removeObstacleEngine()

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

Implements SimulatedWorld.

◆ removeRobotEngine()

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

Implements SimulatedWorld.

◆ setObjectPose()

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

Implements SimulatedWorld.

◆ setObjectSimType()

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

Implements SimulatedWorld.

◆ setRobotAngularVelocity()

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

Implements SimulatedWorld.

◆ setRobotAngularVelocityRobotRootFrame()

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

Implements SimulatedWorld.

◆ setRobotLinearVelocity()

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

Implements SimulatedWorld.

◆ setRobotLinearVelocityRobotRootFrame()

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

Implements SimulatedWorld.

◆ setRobotMaxTorque()

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

Implements SimulatedWorld.

◆ setRobotNodeSimType()

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

Implements SimulatedWorld.

◆ setRobotPose()

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

Implements SimulatedWorld.

◆ setupFloorEngine()

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

Implements SimulatedWorld.

◆ stepPhysicsFixedTimeStep()

virtual void stepPhysicsFixedTimeStep ( )
overridevirtual

Perform one simulation step.

This updates all models.

Implements SimulatedWorld.

◆ stepPhysicsRealTime()

virtual 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.

◆ synchronizeObjects()

virtual bool synchronizeObjects ( )
overrideprotectedvirtual

Implements SimulatedWorld.

◆ synchronizeRobotNodePoses()

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

◆ synchronizeSceneObjectPoses()

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

◆ synchronizeSimulationDataEngine()

virtual bool synchronizeSimulationDataEngine ( )
overrideprotectedvirtual

According to other SimulatedWorlds, this method's only job is to update contacts.

Implements SimulatedWorld.

◆ toFramedPose()

virtual 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()

virtual bool updateForceTorqueSensor ( ForceTorqueInfo & ftInfo)
overrideprotectedvirtual

Implements SimulatedWorld.

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