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robot::sim::TestBasicEnvironment Class Reference

Inheritance diagram for robot::sim::TestBasicEnvironment:

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Collaboration diagram for robot::sim::TestBasicEnvironment:

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List of all members.

Public Types

enum  ExternalizationType { Input = 1, Output = 2, IO = 3 }

Public Member Functions

 TestBasicEnvironment (ref< base::VFileSystem > fs, ref< base::Cache > cache, const String &name="")
virtual String className () const
virtual ref< RobotDescription > newRobotDescription () const
virtual ref< Robot > addRobot (ref< const robot::RobotDescription > robotDescription, const base::Point3 &position, const base::Orient &orientation, bool anchored=false)
 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)
virtual Int numRobots () const
virtual ref< Robot > getRobot (Int i)
virtual ref< Tool > addTool (ref< const robot::ToolDescription > toolDescription, const base::Point3 &position, const base::Orient &orientation)
virtual void removeTool (ref< Tool > tool)
virtual Int numTools () const
virtual ref< Tool > getTool (Int i)
virtual ref< const Tool > getTool (Int i) const
virtual void placeToolInProximity (ref< Tool > tool, ref< Robot > robot, Int manipulatorIndex=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="")
virtual ref< Obstacle > addSphereObstacle (Real radius, const base::Point3 &position, const base::Orient &orientation, const String &name="")
virtual void removeObstacle (ref< Obstacle > obstacle)
virtual Int numObstacles () const
virtual ref< Obstacle > getObstacle (Int i)
virtual ref< const Obstacle > getObstacle (Int i) const
virtual void preSimulate ()
virtual void simulateForSimTime (const base::Time &dt)
virtual bool formatSupported (const String format, Real version=1.0, ExternalizationType type=IO) const
 query if specific format is supported (for input, output or both)

virtual void externalize (base::Externalizer &e, const String format="", Real version=1.0)
 read or write object state to Externalizer

virtual ref< ToolDescription > newToolDescription () const=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 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 Types

typedef reflist< robot::TestRobot > RobotList
typedef reflist< Tool > ToolList
typedef reflist< Obstacle > ObstacleList

Protected Attributes

RobotList robots
 list of robots in the environment

ToolList tools
 list of tools in the environment

ObstacleList obstacles
 list of obstacles in the environment

int _refCount
bool onUnreferenceEnabled

Detailed Description

A basic environment for robots and simple obstacles without any simulation. Useful for testing. Added Robot instances are typically of type TestRobot.

Definition at line 44 of file TestBasicEnvironment.

Member Typedef Documentation

typedef reflist<Obstacle> robot::sim::TestBasicEnvironment::ObstacleList [protected]
 

Definition at line 118 of file TestBasicEnvironment.

typedef reflist<robot::TestRobot> robot::sim::TestBasicEnvironment::RobotList [protected]
 

Definition at line 116 of file TestBasicEnvironment.

typedef reflist<Tool> robot::sim::TestBasicEnvironment::ToolList [protected]
 

Definition at line 117 of file TestBasicEnvironment.

Member Enumeration Documentation

enum base::Externalizable::ExternalizationType [inherited]
 

Enumeration values:
Input 
Output 
IO 

Definition at line 40 of file Externalizable.

Constructor & Destructor Documentation

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

Member Function Documentation

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

Implements robot::sim::BasicEnvironment.

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

add Robot with the given description to the environment at the specified position/orientation (fixed there if anchored is true)

Implements robot::sim::Environment.

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

Implements robot::sim::BasicEnvironment.

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

Implements robot::sim::BasicEnvironment.

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

return the name of the object's class type. Must be defined by derived classes.

Reimplemented from robot::sim::BasicEnvironment.

Definition at line 49 of file TestBasicEnvironment.

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 robot::sim::TestBasicEnvironment::externalize (  base::Externalizer &  e,
const String  format = "",
Real  version = 1.0
)  [virtual]
 

read or write object state to Externalizer

Implements base::Externalizable.

virtual bool robot::sim::TestBasicEnvironment::formatSupported (  const String  format,
Real  version = 1.0,
ExternalizationType  type = IO
)  const [virtual]
 

query if specific format is supported (for input, output or both)

Implements base::Externalizable.

virtual ref<const Obstacle> robot::sim::TestBasicEnvironment::getObstacle (  Int  i  )  const [inline, virtual]
 

Implements robot::sim::BasicEnvironment.

Definition at line 104 of file TestBasicEnvironment.

References base::elementAt().

virtual ref<Obstacle> robot::sim::TestBasicEnvironment::getObstacle (  Int  i  )  [inline, virtual]
 

Implements robot::sim::BasicEnvironment.

Definition at line 103 of file TestBasicEnvironment.

References base::elementAt().

virtual ref<Robot> robot::sim::TestBasicEnvironment::getRobot (  Int  i  )  [inline, virtual]
 

Implements robot::sim::Environment.

Definition at line 70 of file TestBasicEnvironment.

References base::elementAt().

virtual ref<const Tool> robot::sim::TestBasicEnvironment::getTool (  Int  i  )  const [inline, virtual]
 

Implements robot::sim::BasicEnvironment.

Definition at line 82 of file TestBasicEnvironment.

References base::elementAt().

virtual ref<Tool> robot::sim::TestBasicEnvironment::getTool (  Int  i  )  [inline, virtual]
 

Implements robot::sim::BasicEnvironment.

Definition at line 81 of file TestBasicEnvironment.

References base::elementAt().

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::TestBasicEnvironment::newRobotDescription (   )  const [inline, virtual]
 

Implements robot::sim::Environment.

Definition at line 59 of file TestBasicEnvironment.

References NewObj.

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

Implemented in robot::sim::SimulatedBasicEnvironment.

virtual Int robot::sim::TestBasicEnvironment::numObstacles (   )  const [inline, virtual]
 

Implements robot::sim::BasicEnvironment.

Definition at line 102 of file TestBasicEnvironment.

References base::reflist< _Tp, _Alloc >::size().

virtual Int robot::sim::TestBasicEnvironment::numRobots (   )  const [inline, virtual]
 

Implements robot::sim::Environment.

Definition at line 69 of file TestBasicEnvironment.

References base::reflist< _Tp, _Alloc >::size().

virtual Int robot::sim::TestBasicEnvironment::numTools (   )  const [inline, virtual]
 

Implements robot::sim::BasicEnvironment.

Definition at line 80 of file TestBasicEnvironment.

References base::reflist< _Tp, _Alloc >::size().

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::TestBasicEnvironment::placeToolInProximity (  ref< Tool >  tool,
ref< Robot >  robot,
Int  manipulatorIndex = 0
)  [virtual]
 

place the specified tool within grasping range of the end-effector of the specified robot manipulator

Implements robot::sim::BasicEnvironment.

virtual void robot::sim::TestBasicEnvironment::preSimulate (   )  [virtual]
 

Implements base::Simulatable.

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::TestBasicEnvironment::removeObstacle (  ref< Obstacle >  obstacle  )  [virtual]
 

Implements robot::sim::BasicEnvironment.

virtual void robot::sim::TestBasicEnvironment::removeRobot (  ref< robot::Robot >  robot  )  [virtual]
 

Implements robot::sim::Environment.

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

Implements robot::sim::BasicEnvironment.

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.

virtual void robot::sim::TestBasicEnvironment::simulateForSimTime (  const base::Time &  dt  )  [virtual]
 

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.

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.

ObstacleList robot::sim::TestBasicEnvironment::obstacles [protected]
 

list of obstacles in the environment

Definition at line 122 of file TestBasicEnvironment.

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().

RobotList robot::sim::TestBasicEnvironment::robots [protected]
 

list of robots in the environment

Definition at line 120 of file TestBasicEnvironment.

ToolList robot::sim::TestBasicEnvironment::tools [protected]
 

list of tools in the environment

Definition at line 121 of file TestBasicEnvironment.

The documentation for this class was generated from the following file:
Generated on Thu Jul 29 16:43:33 2004 for OpenSim by doxygen 1.3.6