robot::sim::BasicEnvironment Class Reference

Inheritance diagram for robot::sim::BasicEnvironment:

[legend]Collaboration diagram for robot::sim::BasicEnvironment:

[legend]List of all members.

Public Types
enum	ExternalizationType { Input = 1, Output = 2, IO = 3 }
Public Member Functions
	BasicEnvironment (ref< base::VFileSystem > fs, ref< base::Cache > cache, const String &name="")
	BasicEnvironment (const BasicEnvironment &e)
virtual String	className () const
virtual ref< ToolDescription >	newToolDescription () const=0
virtual ref< Tool >	addTool (ref< const robot::ToolDescription > toolDescription, const base::Point3 &position, const base::Orient &orientation)=0
virtual void	removeTool (ref< Tool > tool)=0
virtual Int	numTools () const=0
virtual ref< Tool >	getTool (Int i)=0
virtual ref< const Tool >	getTool (Int i) const=0
virtual void	placeToolInProximity (ref< Tool > tool, ref< Robot > robot, Int manipulatorIndex=0)=0
	place the specified tool within grasping range of the end-effector of the specified robot manipulator
virtual ref< Obstacle >	addBoxObstacle (base::Dimension3 dim, const base::Point3 &position, const base::Orient &orientation, const String &name="")=0
virtual ref< Obstacle >	addSphereObstacle (Real radius, const base::Point3 &position, const base::Orient &orientation, const String &name="")=0
virtual void	removeObstacle (ref< Obstacle > obstacle)=0
virtual Int	numObstacles () const=0
virtual ref< Obstacle >	getObstacle (Int i)=0
virtual ref< const Obstacle >	getObstacle (Int i) const=0
virtual ref< RobotDescription >	newRobotDescription () const=0
virtual ref< Robot >	addRobot (ref< const robot::RobotDescription > robotDescription, const base::Point3 &position, const base::Orient &orientation, bool anchored=false)=0
	add Robot with the given description to the environment at the specified position/orientation (fixed there if anchored is true)
virtual void	removeRobot (ref< robot::Robot > robot)=0
virtual Int	numRobots () const=0
virtual ref< Robot >	getRobot (Int i)=0
virtual void	preSimulate ()=0
virtual void	simulateForSimTime (const Time &dt)=0
void	simulateForRealTime (const Time &dt, Real simTimeStepSize=minSimStepSize)
virtual bool	isSameKindAs (const ReferencedObject &) const
virtual bool	isSameKindAs (const Object &) const
void	reference () const
bool	unreference () const
const int	referenceCount () const
void	enableOnUnreferenceCall (bool enabled)
virtual void	onUnreference () const
virtual bool	formatSupported (String format, Real version=1.0, ExternalizationType type=IO) const=0
	query if specific format is supported (for input, output or both)
virtual void	externalize (Externalizer &e, String format="", Real version=1.0)=0
	read or write object state to Externalizer
virtual void	externalize (Externalizer &e, String format="", Real version=1.0) const
	write object state to Externalizer (throws if e is in Input)
void	load (ref< VFile > archive, const String &format="", Real version=1.0)
void	save (ref< VFile > archive, const String &format="", Real version=1.0)
virtual Object &	clone () const=0
Static Public Attributes
const Real	minSimStepSize
Protected Attributes
int	_refCount
bool	onUnreferenceEnabled

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Detailed Description

An abstract basic 'no-frills' environment for Robots Assumes a flat ground and can contain simple obstacles

Definition at line 40 of file BasicEnvironment.

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Member Enumeration Documentation

enum base::Externalizable::ExternalizationType [inherited]

Enumeration values: Input  Output  IO  Definition at line 40 of file Externalizable.

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Constructor & Destructor Documentation

robot::sim::BasicEnvironment::BasicEnvironment (  ref< base::VFileSystem >  fs, ref< base::Cache >  cache, const String &  name = "" )  [inline]

Definition at line 43 of file BasicEnvironment.

robot::sim::BasicEnvironment::BasicEnvironment (  const BasicEnvironment &  e  )  [inline]

Definition at line 46 of file BasicEnvironment.

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Member Function Documentation

virtual ref<Obstacle> robot::sim::BasicEnvironment::addBoxObstacle (  base::Dimension3  dim, const base::Point3 &  position, const base::Orient &  orientation, const String &  name = "" )  [pure virtual]

Implemented in robot::sim::SimulatedBasicEnvironment, and robot::sim::TestBasicEnvironment.

virtual ref<Robot> robot::sim::Environment::addRobot (  ref< const robot::RobotDescription >  robotDescription, const base::Point3 &  position, const base::Orient &  orientation, bool  anchored = false )  [pure virtual, inherited]

add Robot with the given description to the environment at the specified position/orientation (fixed there if anchored is true) Implemented in robot::sim::SimulatedBasicEnvironment, and robot::sim::TestBasicEnvironment.

virtual ref<Obstacle> robot::sim::BasicEnvironment::addSphereObstacle (  Real  radius, const base::Point3 &  position, const base::Orient &  orientation, const String &  name = "" )  [pure virtual]

Implemented in robot::sim::SimulatedBasicEnvironment, and robot::sim::TestBasicEnvironment.

virtual ref<Tool> robot::sim::BasicEnvironment::addTool (  ref< const robot::ToolDescription >  toolDescription, const base::Point3 &  position, const base::Orient &  orientation )  [pure virtual]

Implemented in robot::sim::SimulatedBasicEnvironment, and robot::sim::TestBasicEnvironment.

virtual String robot::sim::BasicEnvironment::className (   )  const [inline, virtual]

return the name of the object's class type. Must be defined by derived classes. Reimplemented from robot::sim::Environment. Reimplemented in robot::sim::SimulatedBasicEnvironment, and robot::sim::TestBasicEnvironment. Definition at line 49 of file BasicEnvironment.

virtual Object& base::Cloneable::clone (   )  const [pure virtual, inherited]

return a shallow copy, with Object& return type. Must be defined by derived classes. Implemented in base::LineSegPathRep, base::LineSegTrajectoryRep, base::ParametricPathRep, base::ParametricTrajectoryRep, base::PathComponent, base::PathName, base::WaypointPathRep, base::WaypointTrajectoryRep, gfx::TriangleIteratorState, gfx::VisualTriangles::TriangleArrayIteratorState, physics::ODECollidableBody::BodyState, and robot::sim::SimulatedBasicEnvironment.

void base::Referenced::enableOnUnreferenceCall (  bool  enabled  )  [inline, inherited]

If enabled, each call to unreference() will also call virtual method onUnreference() Definition at line 115 of file Referenced. References base::Referenced::onUnreferenceEnabled.

virtual void base::Externalizable::externalize (  Externalizer &  e, String  format = "", Real  version = 1.0 )  const [virtual, inherited]

write object state to Externalizer (throws if e is in Input) Reimplemented in physics::Box, physics::Capsule, physics::Cone, physics::Cylinder, physics::LODTerrain, physics::Polyhedron, physics::Sphere, robot::KinematicChain::Link, robot::KinematicChain, robot::ManipulatorDescription, robot::PlatformDescription, robot::RobotDescription, robot::sim::SimulatedManipulatorDescription, robot::sim::SimulatedRobotDescription, robot::sim::SimulatedSerialManipulator, robot::sim::SimulatedTool, and robot::ToolDescription.

virtual void base::Externalizable::externalize (  Externalizer &  e, String  format = "", Real  version = 1.0 )  [pure virtual, inherited]

read or write object state to Externalizer Implemented in base::Path, base::Trajectory, physics::Box, physics::Capsule, physics::Cone, physics::Cylinder, physics::LODTerrain, physics::Material, physics::Polyhedron, physics::Sphere, robot::KinematicChain::Link, robot::KinematicChain, robot::ManipulatorDescription, robot::ManipulatorJointTrajectory, robot::PlatformDescription, robot::RobotDescription, robot::sim::IKORTest::Test, robot::sim::IKORTest, robot::sim::SimulatedBasicEnvironment, robot::sim::SimulatedManipulatorDescription, robot::sim::SimulatedPlatform, robot::sim::SimulatedRobot, robot::sim::SimulatedRobotDescription, robot::sim::SimulatedSerialManipulator, robot::sim::SimulatedTool, robot::sim::TestBasicEnvironment, robot::sim::VisualIKORTest, and robot::ToolDescription.

virtual bool base::Externalizable::formatSupported (  String  format, Real  version = 1.0, ExternalizationType  type = IO )  const [pure virtual, inherited]

query if specific format is supported (for input, output or both) Implemented in base::Path, base::Trajectory, physics::Box, physics::Capsule, physics::Cone, physics::Cylinder, physics::LODTerrain, physics::Material, physics::Polyhedron, physics::Sphere, robot::KinematicChain::Link, robot::KinematicChain, robot::ManipulatorDescription, robot::ManipulatorJointTrajectory, robot::PlatformDescription, robot::RobotDescription, robot::sim::IKORTest::Test, robot::sim::IKORTest, robot::sim::SimulatedBasicEnvironment, robot::sim::SimulatedManipulatorDescription, robot::sim::SimulatedPlatform, robot::sim::SimulatedRobot, robot::sim::SimulatedRobotDescription, robot::sim::SimulatedSerialManipulator, robot::sim::SimulatedTool, robot::sim::TestBasicEnvironment, robot::sim::VisualIKORTest, and robot::ToolDescription.

virtual ref<const Obstacle> robot::sim::BasicEnvironment::getObstacle (  Int  i  )  const [pure virtual]

Implemented in robot::sim::SimulatedBasicEnvironment, and robot::sim::TestBasicEnvironment.

virtual ref<Obstacle> robot::sim::BasicEnvironment::getObstacle (  Int  i  )  [pure virtual]

Implemented in robot::sim::SimulatedBasicEnvironment, and robot::sim::TestBasicEnvironment.

virtual ref<Robot> robot::sim::Environment::getRobot (  Int  i  )  [pure virtual, inherited]

Implemented in robot::sim::SimulatedBasicEnvironment, and robot::sim::TestBasicEnvironment.

virtual ref<const Tool> robot::sim::BasicEnvironment::getTool (  Int  i  )  const [pure virtual]

Implemented in robot::sim::SimulatedBasicEnvironment, and robot::sim::TestBasicEnvironment.

virtual ref<Tool> robot::sim::BasicEnvironment::getTool (  Int  i  )  [pure virtual]

Implemented in robot::sim::SimulatedBasicEnvironment, and robot::sim::TestBasicEnvironment.

virtual bool base::Object::isSameKindAs (  const Object &   )  const [inline, virtual, inherited]

Definition at line 47 of file Object.

virtual bool base::ReferencedObject::isSameKindAs (  const ReferencedObject &   )  const [inline, virtual, inherited]

Definition at line 52 of file ReferencedObject.

void base::Externalizable::load (  ref< VFile >  archive, const String &  format = "", Real  version = 1.0 )  [inherited]

virtual ref<RobotDescription> robot::sim::Environment::newRobotDescription (   )  const [pure virtual, inherited]

Implemented in robot::sim::SimulatedBasicEnvironment, and robot::sim::TestBasicEnvironment.

virtual ref<ToolDescription> robot::sim::BasicEnvironment::newToolDescription (   )  const [pure virtual]

Implemented in robot::sim::SimulatedBasicEnvironment.

virtual Int robot::sim::BasicEnvironment::numObstacles (   )  const [pure virtual]

Implemented in robot::sim::SimulatedBasicEnvironment, and robot::sim::TestBasicEnvironment.

virtual Int robot::sim::Environment::numRobots (   )  const [pure virtual, inherited]

Implemented in robot::sim::SimulatedBasicEnvironment, and robot::sim::TestBasicEnvironment.

virtual Int robot::sim::BasicEnvironment::numTools (   )  const [pure virtual]

Implemented in robot::sim::SimulatedBasicEnvironment, and robot::sim::TestBasicEnvironment.

virtual void base::Referenced::onUnreference (   )  const [inline, virtual, inherited]

Called by unreference() if enabled via enableOnUnreferenceCall(true). Typically overridden in subclasses that wish to know about unreference() calls - for example to handle manually breaking cyclic references Reimplemented in robot::control::ControllableAdaptor::AdaptorControlInterface, and robot::control::ControllableAdaptor. Definition at line 121 of file Referenced. Referenced by base::Referenced::unreference().

virtual void robot::sim::BasicEnvironment::placeToolInProximity (  ref< Tool >  tool, ref< Robot >  robot, Int  manipulatorIndex = 0 )  [pure virtual]

place the specified tool within grasping range of the end-effector of the specified robot manipulator Implemented in robot::sim::SimulatedBasicEnvironment, and robot::sim::TestBasicEnvironment.

virtual void base::Simulatable::preSimulate (   )  [pure virtual, inherited]

Implemented in base::Universe, physics::ODESolidSystem, robot::sim::SimulatedBasicEnvironment, and robot::sim::TestBasicEnvironment.

void base::Referenced::reference (   )  const [inline, inherited]

Increment the reference count by one, indicating that this object has another pointer which is referencing it. Definition at line 65 of file Referenced. References base::Referenced::_refCount.

const int base::Referenced::referenceCount (   )  const [inline, inherited]

Return the number pointers currently referencing this object. Definition at line 112 of file Referenced. References base::Referenced::_refCount. Referenced by robot::control::ControllableAdaptor::AdaptorControlInterface::onUnreference().

virtual void robot::sim::BasicEnvironment::removeObstacle (  ref< Obstacle >  obstacle  )  [pure virtual]

Implemented in robot::sim::TestBasicEnvironment.

virtual void robot::sim::Environment::removeRobot (  ref< robot::Robot >  robot  )  [pure virtual, inherited]

Implemented in robot::sim::SimulatedBasicEnvironment, and robot::sim::TestBasicEnvironment.

virtual void robot::sim::BasicEnvironment::removeTool (  ref< Tool >  tool  )  [pure virtual]

Implemented in robot::sim::SimulatedBasicEnvironment, and robot::sim::TestBasicEnvironment.

void base::Externalizable::save (  ref< VFile >  archive, const String &  format = "", Real  version = 1.0 )  [inherited]

void base::Simulatable::simulateForRealTime (  const Time &  dt, Real  simTimeStepSize = minSimStepSize )  [inherited]

Reimplemented in base::Universe.

virtual void base::Simulatable::simulateForSimTime (  const Time &  dt  )  [pure virtual, inherited]

Implemented in base::Universe.

bool base::Referenced::unreference (   )  const [inline, inherited]

Decrement the reference count by one, indicating that a pointer to this object is referencing it. If the refence count goes to zero, it is assumed that this object is nolonger referenced and is automatically deleted. Definition at line 81 of file Referenced. References base::Referenced::_refCount, Exception, base::Referenced::onUnreference(), and base::Referenced::onUnreferenceEnabled.

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Member Data Documentation

int base::Referenced::_refCount [mutable, protected, inherited]

Definition at line 136 of file Referenced. Referenced by base::Referenced::reference(), base::Referenced::referenceCount(), base::Referenced::Referenced(), base::Referenced::unreference(), and base::Referenced::~Referenced().

const Real base::Simulatable::minSimStepSize [static, inherited]

Definition at line 39 of file Simulatable.

bool base::Referenced::onUnreferenceEnabled [protected, inherited]

Definition at line 137 of file Referenced. Referenced by base::Referenced::enableOnUnreferenceCall(), base::Referenced::Referenced(), and base::Referenced::unreference().

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

• robot/sim/BasicEnvironment

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