The declaration of the NodeManager class. More...

#include <NodeManager.h>

Classes
struct	MoveParams

struct	Params

struct	RotationParams

Public Member Functions
	NodeManager (interfaces::ControlCenter c, lib_manager::LibManager theManager)
	Initialization of a new NodeManager. More...

virtual	~NodeManager ()

virtual interfaces::NodeId	createPrimitiveNode (const std::string &name, interfaces::NodeType type, bool movable=false, const utils::Vector &pos=utils::Vector::Zero(), const utils::Vector &extension=utils::Vector::Identity(), double mass=0, const utils::Quaternion &orientation=utils::Quaternion::Identity(), bool disablePhysics=false)

virtual interfaces::NodeId	addNode (interfaces::NodeData *nodeS, bool reload=false, bool loadGraphics=true)
	Add a node to the node pool of the simulation. More...

virtual interfaces::NodeId	addTerrain (interfaces::terrainStruct *terrainS)
	This function maps a terrainStruct to a node struct and adds that node to the simulation. More...

virtual std::vector< interfaces::NodeId >	addNode (std::vector< interfaces::NodeData > v_NodeData)
	This function adds an vector of nodes to the factory. More...

virtual interfaces::NodeId	addPrimitive (interfaces::NodeData *snode)
	This function adds an primitive to the simulation. More...

virtual bool	exists (interfaces::NodeId id) const
	returns true if the node with the given id exists More...

virtual int	getNodeCount () const
	returns the number of nodes added to the simulation More...

virtual interfaces::NodeId	getNextNodeID () const
	Returns the ID for the next node which will be added to the simulation. More...

virtual void	editNode (interfaces::NodeData *nodeS, int changes)
	Change a node. More...

virtual void	changeGroup (interfaces::NodeId id, int group)
	This function is not implemented yet. More...

virtual void	getListNodes (std::vector< interfaces::core_objects_exchange > *nodeList) const
	Fills a list of core_object_exchange objects with node iformations. More...

virtual void	getNodeExchange (interfaces::NodeId id, interfaces::core_objects_exchange *obj) const
	Fills one core_object_exchange object with node information of the node with the given id. More...

virtual const interfaces::NodeData	getFullNode (interfaces::NodeId id) const
	get the full struct of a Node for editing purposes More...

virtual void	removeNode (interfaces::NodeId id, bool clearGraphics=true)
	removes the node with the corresponding id. More...

virtual void	setNodeState (interfaces::NodeId id, const interfaces::nodeState &state)
	Set physical dynamic values for the node with the given id. More...

virtual void	getNodeState (interfaces::NodeId id, interfaces::nodeState *state) const
	Get physical dynamic values for the node with the given id. More...

virtual const utils::Vector	getCenterOfMass (const std::vector< interfaces::NodeId > &ids) const
	Return the center of mass for the nodes corresponding to the id's from the given vector. More...

virtual void	setPosition (interfaces::NodeId id, const utils::Vector &pos)
	Sets the position of the node with the given id. More...

virtual const utils::Vector	getPosition (interfaces::NodeId id) const
	Returns the current position of a node. More...

virtual void	setRotation (interfaces::NodeId id, const utils::Quaternion &rot)
	Sets the rotation of the node with the given id. More...

virtual const utils::Quaternion	getRotation (interfaces::NodeId id) const
	Returns the current orientation of a node. More...

virtual const utils::Vector	getLinearVelocity (interfaces::NodeId id) const
	Gets the current linear velocity of a node. More...

virtual const utils::Vector	getAngularVelocity (interfaces::NodeId id) const
	Gets the current angular velocity of a node. More...

virtual const utils::Vector	getLinearAcceleration (interfaces::NodeId id) const
	Gets the current linear acceleration of a node. More...

virtual const utils::Vector	getAngularAcceleration (interfaces::NodeId id) const
	Gets the current angular/rotational acceleration of a node. More...

virtual void	applyForce (interfaces::NodeId id, const utils::Vector &force, const utils::Vector &pos)
	Adds a off-center Force to the node with the given id. More...

virtual void	applyForce (interfaces::NodeId id, const utils::Vector &force)
	Adds a Force to the node with the given id. More...

virtual void	applyTorque (interfaces::NodeId id, const utils::Vector &torque)
	Adds a Torque to the node with the given id. More...

virtual void	setContactParamMotion1 (interfaces::NodeId id, interfaces::sReal motion)
	Sets the contact parameter motion1 for the node with the given id. More...

virtual void	addNodeSensor (interfaces::BaseNodeSensor *sensor)
	Adds a physical sensor to the node with the given id. More...

virtual void	reloadNodeSensor (interfaces::BaseNodeSensor *sensor)
	This function resets a added sensor by removing it and add a new defined by the sensor config struct. More...

virtual SimNode *	getSimNode (interfaces::NodeId id)
	Returns a pointer to the SimNode Object. More...

virtual const SimNode *	getSimNode (interfaces::NodeId id) const

virtual void	reloadNodes (bool reloadGraphics)
	Reloads all nodes in the simulation. More...

virtual const utils::Vector	setReloadExtent (interfaces::NodeId id, const utils::Vector &ext)
	set the size for the node with the given id. More...

virtual void	setReloadPosition (interfaces::NodeId id, const utils::Vector &pos)
	set the position for the node with the given id. More...

virtual void	setReloadFriction (interfaces::NodeId id, interfaces::sReal friction1, interfaces::sReal friction2)
	Sets the new contact friction of a node after a reset of the simulation. More...

virtual void	updateDynamicNodes (interfaces::sReal calc_ms, bool physics_thread=true)
	Updates the Node values of dynamical nodes from the physics. More...

virtual void	clearAllNodes (bool clear_all=false, bool clearGraphics=true)
	Removes all nodes from the simulation to clear the world. More...

virtual void	setReloadAngle (interfaces::NodeId id, const utils::sRotation &angle)
	Set the reload orientation of a node. More...

virtual void	setContactParams (interfaces::NodeId id, const interfaces::contact_params &cp)
	Set the contact parameter of a node. More...

virtual const interfaces::contact_params	getContactParams (interfaces::NodeId id) const
	Returns the contact properties of a certain node. More...

virtual void	setVelocity (interfaces::NodeId id, const utils::Vector &vel)
	Sets the linear velocity of a node. More...

virtual void	setAngularVelocity (interfaces::NodeId id, const utils::Vector &vel)
	Sets the angular velocity of a node. More...

virtual void	scaleReloadNodes (interfaces::sReal x, interfaces::sReal y, interfaces::sReal z)
	Scales the nodes to reload. More...

virtual void	getNodeMass (interfaces::NodeId id, interfaces::sReal mass, interfaces::sReal inertia=0) const
	Returns the mass and inertia of a certain node. More...

virtual void	setAngularDamping (interfaces::NodeId id, interfaces::sReal damping)
	Sets a angular damping factor to the node dynamics. More...

virtual void	addRotation (interfaces::NodeId id, const utils::Quaternion &q)
	Adds a additional rotation to the orientation of a node. More...

virtual void	setReloadQuaternion (interfaces::NodeId id, const utils::Quaternion &q)
	Set the reload orientation of a node by using a quaternion. More...

virtual void	preGraphicsUpdate (void)

virtual void	exportGraphicNodesByID (const std::string &folder) const
	If a graphicsManager is loaded, exports the graphical models of all nodes. More...

virtual void	getContactPoints (std::vector< interfaces::NodeId > ids, std::vector< utils::Vector > contact_points) const

virtual void	getContactIDs (const interfaces::NodeId &id, std::list< interfaces::NodeId > *ids) const

virtual void	updateRay (interfaces::NodeId id)

virtual interfaces::NodeId	getDrawID (interfaces::NodeId id) const

virtual void	setVisualRep (interfaces::NodeId id, int val)

virtual const utils::Vector	getContactForce (interfaces::NodeId id) const

virtual void	setVisualQOffset (interfaces::NodeId id, const utils::Quaternion &q)

virtual void	updatePR (interfaces::NodeId id, const utils::Vector &pos, const utils::Quaternion &rot, const utils::Vector &visOffsetPos, const utils::Quaternion &visOffsetRot, bool doLock=true)

virtual interfaces::NodeId	getID (const std::string &node_name) const
	Retrieve the id of a node by name. More...

virtual double	getCollisionDepth (interfaces::NodeId id) const

virtual bool	getDataBrokerNames (interfaces::NodeId id, std::string groupName, std::string dataName) const
	Retrieves the groupName and dataName under which the node with the specified id publishes its data in the DataBroker. More...

virtual std::vector< interfaces::NodeId >	getConnectedNodes (interfaces::NodeId id)

virtual bool	getIsMovable (interfaces::NodeId id) const

virtual void	setIsMovable (interfaces::NodeId id, bool isMovable)

virtual void	lock ()

virtual void	unlock ()

virtual void	rotateNode (interfaces::NodeId id, utils::Vector pivot, utils::Quaternion q, unsigned long excludeJointId, bool includeConnected=true)
	Rotates the specified node according to the provided quaternion. More...

virtual void	positionNode (interfaces::NodeId id, utils::Vector pos, unsigned long excludeJointId)
	Positions the node according to the provided vector. More...

virtual unsigned long	getMaxGroupID ()

virtual void	edit (interfaces::NodeId id, const std::string &key, const std::string &value)
	Edit a node property by giving a key and value. More...

Public Member Functions inherited from mars::interfaces::NodeManagerInterface
virtual	~NodeManagerInterface ()

Public Member Functions inherited from mars::interfaces::GraphicsUpdateInterface
	GraphicsUpdateInterface (void)

virtual	~GraphicsUpdateInterface (void)

virtual void	postGraphicsUpdate (void)

Private Member Functions
std::list< interfaces::NodeData >::iterator	getReloadNode (interfaces::NodeId id)

void	recursiveHelper (interfaces::NodeId id, const Params params, std::vector< SimJoint > joints, std::vector< int > gids, NodeMap nodes, void(applyFunc)(SimNode node, const Params params))

void	moveNodeRecursive (interfaces::NodeId id, const utils::Vector &offset, std::vector< SimJoint > joints, std::vector< int > gids, NodeMap nodes)

void	rotateNodeRecursive (interfaces::NodeId id, const utils::Vector &rotation_point, const utils::Quaternion &rotation, std::vector< SimJoint > joints, std::vector< int > gids, NodeMap nodes)

void	moveRelativeNodes (const SimNode &node, NodeMap *nodes, utils::Vector v)

void	rotateRelativeNodes (const SimNode &node, NodeMap *nodes, utils::Vector pivot, utils::Quaternion rot)

void	resetRelativeNodes (const SimNode &node, NodeMap nodes, const utils::Quaternion rotate=0)

void	resetRelativeJoints (const SimNode &node, NodeMap nodes, std::vector< SimJoint > joints, const utils::Quaternion rotate=0)

void	setNodeStructPositionFromRelative (interfaces::NodeData *node) const

void	clearRelativePosition (interfaces::NodeId id, bool lock)

void	removeNode (interfaces::NodeId id, bool lock, bool clearGraphics=true)

void	pushToUpdate (SimNode *node)

void	printNodeMasses (bool onlysum)

void	changeNode (SimNode editedNode, interfaces::NodeData nodeS)

Static Private Member Functions
static void	applyMove (SimNode node, const Params params)

static void	applyRotation (SimNode node, const Params params)

Private Attributes
interfaces::NodeId	next_node_id

bool	update_all_nodes

int	visual_rep

NodeMap	simNodes

NodeMap	simNodesDyn

NodeMap	nodesToUpdate

NodeMap	vizNodes

std::list< interfaces::NodeData >	simNodesReload

unsigned long	maxGroupID

lib_manager::LibManager *	libManager

utils::Mutex	iMutex

interfaces::ControlCenter *	control

Detailed Description

The declaration of the NodeManager class.

Definition at line 52 of file NodeManager.h.

Constructor & Destructor Documentation

◆ NodeManager()

mars::sim::NodeManager::NodeManager	(	interfaces::ControlCenter *	c,
		lib_manager::LibManager *	theManager
	)

Initialization of a new NodeManager.

pre:

a pointer to a ControlCenter is needed post:
next_node_id should be initialized to one

Definition at line 65 of file NodeManager.cpp.

◆ ~NodeManager()

virtual mars::sim::NodeManager::~NodeManager ( )

inlinevirtual

Definition at line 57 of file NodeManager.h.

Member Function Documentation

◆ addNode() [1/2]

NodeId mars::sim::NodeManager::addNode	(	interfaces::NodeData *	nodeS,
		bool	reload = `false`,
		bool	loadGraphics = `true`
	)

virtual

Add a node to the node pool of the simulation.

It is very important to assure the serialization between the threads to have the desired results.

pre:

nodeS->groupID >= 0

Implements mars::interfaces::NodeManagerInterface.

Definition at line 108 of file NodeManager.cpp.

◆ addNode() [2/2]

vector< NodeId > mars::sim::NodeManager::addNode ( std::vector< interfaces::NodeData > v_NodeData )

virtual

This function adds an vector of nodes to the factory.

The functionality is implemented in the GUI, but should move to the node factory soon.

Implements mars::interfaces::NodeManagerInterface.

Definition at line 386 of file NodeManager.cpp.

◆ addNodeSensor()

void mars::sim::NodeManager::addNodeSensor ( interfaces::BaseNodeSensor * sensor )

virtual

Adds a physical sensor to the node with the given id.

Implements mars::interfaces::NodeManagerInterface.

Definition at line 875 of file NodeManager.cpp.

◆ addPrimitive()

NodeId mars::sim::NodeManager::addPrimitive ( interfaces::NodeData * snode )

virtual

This function adds an primitive to the simulation.

The functionality is implemented in the GUI, but should move to the node factory soon.

Implements mars::interfaces::NodeManagerInterface.

Definition at line 402 of file NodeManager.cpp.

◆ addRotation()

void mars::sim::NodeManager::addRotation	(	interfaces::NodeId	id,
		const utils::Quaternion &	q
	)

virtual

Adds a additional rotation to the orientation of a node.

It is very important to assure the serialization between the threads to have the desired results. Currently the verified use of this function is only guaranteed by calling it within the main thread (update callback from gui_thread).

Parameters

id	The id of the node to add the rotation.
q	The rotation to be added (see Quaternion).

Implements mars::interfaces::NodeManagerInterface.

Definition at line 1426 of file NodeManager.cpp.

◆ addTerrain()

NodeId mars::sim::NodeManager::addTerrain ( interfaces::terrainStruct * terrainS )

virtual

This function maps a terrainStruct to a node struct and adds that node to the simulation.

Implements mars::interfaces::NodeManagerInterface.

Definition at line 357 of file NodeManager.cpp.

◆ applyForce() [1/2]

void mars::sim::NodeManager::applyForce	(	interfaces::NodeId	id,
		const utils::Vector &	force,
		const utils::Vector &	pos
	)

virtual

Adds a off-center Force to the node with the given id.

Implements mars::interfaces::NodeManagerInterface.

Definition at line 834 of file NodeManager.cpp.

◆ applyForce() [2/2]

void mars::sim::NodeManager::applyForce	(	interfaces::NodeId	id,
		const utils::Vector &	force
	)

virtual

Adds a Force to the node with the given id.

Implements mars::interfaces::NodeManagerInterface.

Definition at line 843 of file NodeManager.cpp.

◆ applyMove()

void mars::sim::NodeManager::applyMove	(	SimNode *	node,
		const Params *	params
	)

staticprivate

Definition at line 1063 of file NodeManager.cpp.

◆ applyRotation()

void mars::sim::NodeManager::applyRotation	(	SimNode *	node,
		const Params *	params
	)

staticprivate

Definition at line 1069 of file NodeManager.cpp.

◆ applyTorque()

void mars::sim::NodeManager::applyTorque	(	interfaces::NodeId	id,
		const utils::Vector &	torque
	)

virtual

Adds a Torque to the node with the given id.

Implements mars::interfaces::NodeManagerInterface.

Definition at line 853 of file NodeManager.cpp.

◆ changeGroup()

void mars::sim::NodeManager::changeGroup	(	interfaces::NodeId	id,
		int	group
	)

virtual

This function is not implemented yet.

To change a group of a node it has to be removed and added again with a new group_id.

Implements mars::interfaces::NodeManagerInterface.

Definition at line 589 of file NodeManager.cpp.

◆ changeNode()

void mars::sim::NodeManager::changeNode	(	SimNode *	editedNode,
		interfaces::NodeData *	nodeS
	)

private

Definition at line 1867 of file NodeManager.cpp.

◆ clearAllNodes()

void mars::sim::NodeManager::clearAllNodes	(	bool	clear_all = `false`,
		bool	clearGraphics = `true`
	)

virtual

Removes all nodes from the simulation to clear the world.

Implements mars::interfaces::NodeManagerInterface.

Definition at line 1322 of file NodeManager.cpp.

◆ clearRelativePosition()

void mars::sim::NodeManager::clearRelativePosition	(	interfaces::NodeId	id,
		bool	lock
	)

private

Definition at line 1167 of file NodeManager.cpp.

◆ createPrimitiveNode()

NodeId mars::sim::NodeManager::createPrimitiveNode	(	const std::string &	name,
		interfaces::NodeType	type,
		bool	movable = `false`,
		const utils::Vector &	pos = `utils::Vector::Zero()`,
		const utils::Vector &	extension = `utils::Vector::Identity()`,
		double	mass = `0`,
		const utils::Quaternion &	orientation = `utils::Quaternion::Identity()`,
		bool	disablePhysics = `false`
	)

virtual

Implements mars::interfaces::NodeManagerInterface.

Definition at line 81 of file NodeManager.cpp.

◆ edit()

void mars::sim::NodeManager::edit	(	interfaces::NodeId	id,
		const std::string &	key,
		const std::string &	value
	)

virtual

Edit a node property by giving a key and value.

Parameters

id	The `id` of the node to be edit.
key	Defines the key in the ConfigMap. Could also include the path, in the end pattern matching is used.
value	String containing the value.

Implements mars::interfaces::NodeManagerInterface.

Definition at line 1715 of file NodeManager.cpp.

◆ editNode()

void mars::sim::NodeManager::editNode	(	interfaces::NodeData *	nodeS,
		int	changes
	)

virtual

Change a node.

The simulation must be updated in here. doc has to be written

Implements mars::interfaces::NodeManagerInterface.

Definition at line 436 of file NodeManager.cpp.

◆ exists()

bool mars::sim::NodeManager::exists ( interfaces::NodeId id ) const

virtual

returns true if the node with the given id exists

Implements mars::interfaces::NodeManagerInterface.

Definition at line 411 of file NodeManager.cpp.

◆ exportGraphicNodesByID()

void mars::sim::NodeManager::exportGraphicNodesByID ( const std::string & folder ) const

virtual

If a graphicsManager is loaded, exports the graphical models of all nodes.

Every node is exported by its id to a seperated file into the given folder.

It is very important to assure the serialization between the threads to have the desired results. Currently the verified use of this function is only guaranteed by calling it within the main thread (update callback from gui_thread).

Parameters

folder The folder where to exort the models.

Implements mars::interfaces::NodeManagerInterface.

Definition at line 1446 of file NodeManager.cpp.

◆ getAngularAcceleration()

const Vector mars::sim::NodeManager::getAngularAcceleration ( interfaces::NodeId id ) const

virtual

Gets the current angular/rotational acceleration of a node.

Parameters

id	The id of the node to get the angular/rotational acceleration from.

Returns: The angular/rotational acceleration of the node.

Implements mars::interfaces::NodeManagerInterface.

Definition at line 809 of file NodeManager.cpp.

◆ getAngularVelocity()

const Vector mars::sim::NodeManager::getAngularVelocity ( interfaces::NodeId id ) const

virtual

Gets the current angular velocity of a node.

Parameters

id	The id of the node to get the angular/rotational velocity from.

Returns: The angular/rotational velocity of the node.

Implements mars::interfaces::NodeManagerInterface.

Definition at line 790 of file NodeManager.cpp.

◆ getCenterOfMass()

const Vector mars::sim::NodeManager::getCenterOfMass ( const std::vector< interfaces::NodeId > & ids ) const

virtual

Return the center of mass for the nodes corresponding to the id's from the given vector.

Implements mars::interfaces::NodeManagerInterface.

Definition at line 732 of file NodeManager.cpp.

◆ getCollisionDepth()

double mars::sim::NodeManager::getCollisionDepth ( interfaces::NodeId id ) const

virtual

Implements mars::interfaces::NodeManagerInterface.

Definition at line 1520 of file NodeManager.cpp.

◆ getConnectedNodes()

std::vector< NodeId > mars::sim::NodeManager::getConnectedNodes ( interfaces::NodeId id )

virtual

Implements mars::interfaces::NodeManagerInterface.

Definition at line 1580 of file NodeManager.cpp.

◆ getContactForce()

const Vector mars::sim::NodeManager::getContactForce ( interfaces::NodeId id ) const

virtual

Implements mars::interfaces::NodeManagerInterface.

Definition at line 1510 of file NodeManager.cpp.

◆ getContactIDs()

void mars::sim::NodeManager::getContactIDs	(	const interfaces::NodeId &	id,
		std::list< interfaces::NodeId > *	ids
	)		const

virtual

Definition at line 1482 of file NodeManager.cpp.

◆ getContactParams()

const contact_params mars::sim::NodeManager::getContactParams ( interfaces::NodeId id ) const

virtual

Returns the contact properties of a certain node.

It is very important to assure the serialization between the threads to have the desired results. Currently the verified use of this function is only guaranteed by calling it within the main thread (update callback from gui_thread).

Parameters

id	The id of the node to get the contact properties from.

Returns: A contact parameter struct which stores the contact properties.

See also: contact_params

Implements mars::interfaces::NodeManagerInterface.

Definition at line 1434 of file NodeManager.cpp.

◆ getContactPoints()

void mars::sim::NodeManager::getContactPoints	(	std::vector< interfaces::NodeId > *	ids,
		std::vector< utils::Vector > *	contact_points
	)		const

virtual

Implements mars::interfaces::NodeManagerInterface.

Definition at line 1465 of file NodeManager.cpp.

◆ getDataBrokerNames()

bool mars::sim::NodeManager::getDataBrokerNames	(	interfaces::NodeId	id,
		std::string *	groupName,
		std::string *	dataName
	)		const

virtual

Retrieves the groupName and dataName under which the node with the specified id publishes its data in the DataBroker.

Returns: true if the names were successfully retrieved. false if no node with the given id exists.

Implements mars::interfaces::NodeManagerInterface.

Definition at line 1624 of file NodeManager.cpp.

◆ getDrawID()

NodeId mars::sim::NodeManager::getDrawID ( interfaces::NodeId id ) const

virtual

Implements mars::interfaces::NodeManagerInterface.

Definition at line 1500 of file NodeManager.cpp.

◆ getFullNode()

const NodeData mars::sim::NodeManager::getFullNode ( interfaces::NodeId id ) const

virtual

get the full struct of a Node for editing purposes

Exceptions

std::runtime_error if the node cannot be found

Implements mars::interfaces::NodeManagerInterface.

Definition at line 626 of file NodeManager.cpp.

◆ getID()

NodeId mars::sim::NodeManager::getID ( const std::string & node_name ) const

virtual

Retrieve the id of a node by name.

Parameters

node_name Name of the node to get the id for

Returns: Id of the node if it exists, otherwise 0

Implements mars::interfaces::NodeManagerInterface.

Definition at line 1557 of file NodeManager.cpp.

◆ getIsMovable()

bool mars::sim::NodeManager::getIsMovable ( interfaces::NodeId id ) const

virtual

Implements mars::interfaces::NodeManagerInterface.

Definition at line 1654 of file NodeManager.cpp.

◆ getLinearAcceleration()

const Vector mars::sim::NodeManager::getLinearAcceleration ( interfaces::NodeId id ) const

virtual

Gets the current linear acceleration of a node.

Parameters

id	The id of the node to get the acceleration from.

Returns: The linear acceleration of the node.

Implements mars::interfaces::NodeManagerInterface.

Definition at line 800 of file NodeManager.cpp.

◆ getLinearVelocity()

const Vector mars::sim::NodeManager::getLinearVelocity ( interfaces::NodeId id ) const

virtual

Gets the current linear velocity of a node.

Parameters

id	The id of the node to get the velocity from.

Returns: The linear velocity of the node.

Implements mars::interfaces::NodeManagerInterface.

Definition at line 781 of file NodeManager.cpp.

◆ getListNodes()

void mars::sim::NodeManager::getListNodes ( std::vector< interfaces::core_objects_exchange > * nodeList ) const

virtual

Fills a list of core_object_exchange objects with node iformations.

Implements mars::interfaces::NodeManagerInterface.

Definition at line 598 of file NodeManager.cpp.

◆ getMaxGroupID()

virtual unsigned long mars::sim::NodeManager::getMaxGroupID ( )

inlinevirtual

Implements mars::interfaces::NodeManagerInterface.

Definition at line 159 of file NodeManager.h.

◆ getNextNodeID()

NodeId mars::sim::NodeManager::getNextNodeID ( ) const

virtual

Returns the ID for the next node which will be added to the simulation.

It is very important to assure the serializaion between the threads to have the desired results. This function should be thread save.

Returns: The ID for the next inserted node is returned.

Implements mars::interfaces::NodeManagerInterface.

Definition at line 428 of file NodeManager.cpp.

◆ getNodeCount()

int mars::sim::NodeManager::getNodeCount ( ) const

virtual

returns the number of nodes added to the simulation

Implements mars::interfaces::NodeManagerInterface.

Definition at line 423 of file NodeManager.cpp.

◆ getNodeExchange()

void mars::sim::NodeManager::getNodeExchange	(	interfaces::NodeId	id,
		interfaces::core_objects_exchange *	obj
	)		const

virtual

Fills one core_object_exchange object with node information of the node with the given id.

Implements mars::interfaces::NodeManagerInterface.

Definition at line 613 of file NodeManager.cpp.

◆ getNodeMass()

void mars::sim::NodeManager::getNodeMass	(	interfaces::NodeId	id,
		interfaces::sReal *	mass,
		interfaces::sReal *	inertia = `0`
	)		const

virtual

Returns the mass and inertia of a certain node.

It is very important to assure the serialization between the threads to have the desired results. Currently the verified use of this function is only guaranteed by calling it within the main thread (update callback from gui_thread).

Parameters

id	The id of the node to get the mass information from.
mass	A pointer to the sReal variable, where the mass will be stored.
inertia	A pointer to a sReal array with a dimension of 9. If the pointer is unequal 0, the inertia information will be stored in this array.

Implements mars::interfaces::NodeManagerInterface.

Definition at line 1409 of file NodeManager.cpp.

◆ getNodeState()

void mars::sim::NodeManager::getNodeState	(	interfaces::NodeId	id,
		interfaces::nodeState *	state
	)		const

virtual

Get physical dynamic values for the node with the given id.

Implements mars::interfaces::NodeManagerInterface.

Definition at line 721 of file NodeManager.cpp.

◆ getPosition()

const Vector mars::sim::NodeManager::getPosition ( interfaces::NodeId id ) const

virtual

Returns the current position of a node.

It is very important to assure the serialization between the threads to have the desired results. Currently the verified use of this function is only guaranteed by calling it within the main thread (update callback from gui_thread).

Parameters

id	The id of the node to get the position from.

Returns: The position of the node is returned.

Implements mars::interfaces::NodeManagerInterface.

Definition at line 761 of file NodeManager.cpp.

◆ getReloadNode()

std::list< NodeData >::iterator mars::sim::NodeManager::getReloadNode ( interfaces::NodeId id )

private

Definition at line 1212 of file NodeManager.cpp.

◆ getRotation()

const Quaternion mars::sim::NodeManager::getRotation ( interfaces::NodeId id ) const

virtual

Returns the current orientation of a node.

It is very important to assure the serialization between the threads to have the desired results. Currently the verified use of this function is only guaranteed by calling it within the main thread (update callback from gui_thread).

Parameters

id	The id of the node to get the orientation from.

Returns: The orientation of the node is returned.

Implements mars::interfaces::NodeManagerInterface.

Definition at line 771 of file NodeManager.cpp.

◆ getSimNode() [1/2]

SimNode * mars::sim::NodeManager::getSimNode ( interfaces::NodeId id )

virtual

Returns a pointer to the SimNode Object.

Implements mars::interfaces::NodeManagerInterface.

Definition at line 900 of file NodeManager.cpp.

◆ getSimNode() [2/2]

const SimNode * mars::sim::NodeManager::getSimNode ( interfaces::NodeId id ) const

virtual

Implements mars::interfaces::NodeManagerInterface.

Definition at line 904 of file NodeManager.cpp.

◆ lock()

virtual void mars::sim::NodeManager::lock ( )

inlinevirtual

Implements mars::interfaces::NodeManagerInterface.

Definition at line 152 of file NodeManager.h.

◆ moveNodeRecursive()

void mars::sim::NodeManager::moveNodeRecursive	(	interfaces::NodeId	id,
		const utils::Vector &	offset,
		std::vector< SimJoint >	joints,
		std::vector< int > *	gids,
		NodeMap *	nodes
	)

private

Definition at line 1075 of file NodeManager.cpp.

◆ moveRelativeNodes()

void mars::sim::NodeManager::moveRelativeNodes	(	const SimNode &	node,
		NodeMap *	nodes,
		utils::Vector	v
	)

private

Definition at line 1667 of file NodeManager.cpp.

◆ positionNode()

void mars::sim::NodeManager::positionNode	(	interfaces::NodeId	id,
		utils::Vector	pos,
		unsigned long	excludeJointId
	)

virtual

Positions the node according to the provided vector.

Parameters

id	The `id` of the node to be moved.
pos	The utils::Vector defining the new position of the node.
excludeJointId	?

Implements mars::interfaces::NodeManagerInterface.

Definition at line 1120 of file NodeManager.cpp.

◆ preGraphicsUpdate()

void mars::sim::NodeManager::preGraphicsUpdate ( void )

virtual

Reimplemented from mars::interfaces::GraphicsUpdateInterface.

Definition at line 1274 of file NodeManager.cpp.

◆ printNodeMasses()

void mars::sim::NodeManager::printNodeMasses ( bool onlysum )

privatevirtual

Implements mars::interfaces::NodeManagerInterface.

Definition at line 1704 of file NodeManager.cpp.

◆ pushToUpdate()

void mars::sim::NodeManager::pushToUpdate ( SimNode * node )

private

Definition at line 1571 of file NodeManager.cpp.

◆ recursiveHelper()

void mars::sim::NodeManager::recursiveHelper	(	interfaces::NodeId	id,
		const Params *	params,
		std::vector< SimJoint >	joints,
		std::vector< int > *	gids,
		NodeMap *	nodes,
		void()(SimNode node, const Params *params)	applyFunc
	)

private

Definition at line 987 of file NodeManager.cpp.

◆ reloadNodes()

void mars::sim::NodeManager::reloadNodes ( bool reloadGraphics )

virtual

Reloads all nodes in the simulation.

Implements mars::interfaces::NodeManagerInterface.

Definition at line 1182 of file NodeManager.cpp.

◆ reloadNodeSensor()

void mars::sim::NodeManager::reloadNodeSensor ( interfaces::BaseNodeSensor * sensor )

virtual

This function resets a added sensor by removing it and add a new defined by the sensor config struct.

It is very important to assure the serialization between the threads to have the desired results. Currently the verified use of this function is only guaranteed by calling it within the main thread (update callback from gui_thread).

This method is implemented for a special case where the distance sensors have to be reconfigured. Don't know if it's used right now (maybe in the A3 project).

Parameters

id	The id of the node to reload a sensor.
s_cfg	The sensor configuration struct.

See also: sensor_config

Implements mars::interfaces::NodeManagerInterface.

Definition at line 890 of file NodeManager.cpp.

◆ removeNode() [1/2]

void mars::sim::NodeManager::removeNode	(	interfaces::NodeId	id,
		bool	clearGraphics = `true`
	)

virtual

removes the node with the corresponding id.

Ok, first we have to check if the node is an element of a composite object. If so, we have to cases:

first case:

other nodes exist, which are element of the composite object. -> we can delete the node and keep the group

second case:

this node is the only (last) one of the composite object -> we have to delete both, the node and the group

At this moment we only the physical implementation handle the groups, so the tow cases can be handled here in the same way: -> tell the physics to destroy the object and remove the node from the core.

What about joints?

Implements mars::interfaces::NodeManagerInterface.

Definition at line 660 of file NodeManager.cpp.

◆ removeNode() [2/2]

void mars::sim::NodeManager::removeNode	(	interfaces::NodeId	id,
		bool	lock,
		bool	clearGraphics = `true`
	)

private

Definition at line 664 of file NodeManager.cpp.

◆ resetRelativeJoints()

void mars::sim::NodeManager::resetRelativeJoints	(	const SimNode &	node,
		NodeMap *	nodes,
		std::vector< SimJoint >	joints,
		const utils::Quaternion *	rotate = `0`
	)

private

Definition at line 949 of file NodeManager.cpp.

◆ resetRelativeNodes()

void mars::sim::NodeManager::resetRelativeNodes	(	const SimNode &	node,
		NodeMap *	nodes,
		const utils::Quaternion *	rotate = `0`
	)

private

Definition at line 923 of file NodeManager.cpp.

◆ rotateNode()

void mars::sim::NodeManager::rotateNode	(	interfaces::NodeId	id,
		utils::Vector	pivot,
		utils::Quaternion	q,
		unsigned long	excludeJointId,
		bool	includeConnected = `true`
	)

virtual

Rotates the specified node according to the provided quaternion.

Parameters

id	The `id` of the node to be rotated.
pivot	The utils::Vector defining the pivot point around which to rotate.
q	The utils::Quaternion defining the rotation vector and angle.
excludeJointId	?

Implements mars::interfaces::NodeManagerInterface.

Definition at line 1084 of file NodeManager.cpp.

◆ rotateNodeRecursive()

void mars::sim::NodeManager::rotateNodeRecursive	(	interfaces::NodeId	id,
		const utils::Vector &	rotation_point,
		const utils::Quaternion &	rotation,
		std::vector< SimJoint >	joints,
		std::vector< int > *	gids,
		NodeMap *	nodes
	)

private

Definition at line 1155 of file NodeManager.cpp.

◆ rotateRelativeNodes()

void mars::sim::NodeManager::rotateRelativeNodes	(	const SimNode &	node,
		NodeMap *	nodes,
		utils::Vector	pivot,
		utils::Quaternion	rot
	)

private

Definition at line 1686 of file NodeManager.cpp.

◆ scaleReloadNodes()

void mars::sim::NodeManager::scaleReloadNodes	(	interfaces::sReal	x,
		interfaces::sReal	y,
		interfaces::sReal	z
	)

virtual

Scales the nodes to reload.

Implements mars::interfaces::NodeManagerInterface.

Definition at line 1386 of file NodeManager.cpp.

◆ setAngularDamping()

void mars::sim::NodeManager::setAngularDamping	(	interfaces::NodeId	id,
		interfaces::sReal	damping
	)

virtual

Sets a angular damping factor to the node dynamics.

It is very important to assure the serialization between the threads to have the desired results. Currently the verified use of this function is only guaranteed by calling it within the main thread (update callback from gui_thread).

Parameters

id	The id of the node to add the angular damping.
damping	Factor to multiply with the velocity of the node after every simulation step. The value should be between 0 and 1, while 0 means no damping and 1 the maximum damping. $angular\_velocity = angular\_velocity * (1-damping)$

Implements mars::interfaces::NodeManagerInterface.

Definition at line 1418 of file NodeManager.cpp.

◆ setAngularVelocity()

void mars::sim::NodeManager::setAngularVelocity	(	interfaces::NodeId	id,
		const utils::Vector &	vel
	)

virtual

Sets the angular velocity of a node.

It is very important to assure the serialization between the threads to have the desired results. Currently the verified use of this function is only guaranteed by calling it within the main thread (update callback from gui_thread).

Parameters

id	The id of the node to edit.
vel	The new angular velocity of the node. The vector describes the axis of the rotation and the angular velocity (length of the vector).

Implements mars::interfaces::NodeManagerInterface.

Definition at line 1375 of file NodeManager.cpp.

◆ setContactParamMotion1()

void mars::sim::NodeManager::setContactParamMotion1	(	interfaces::NodeId	id,
		interfaces::sReal	motion
	)

virtual

Sets the contact parameter motion1 for the node with the given id.

Implements mars::interfaces::NodeManagerInterface.

Definition at line 864 of file NodeManager.cpp.

◆ setContactParams()

void mars::sim::NodeManager::setContactParams	(	interfaces::NodeId	id,
		const interfaces::contact_params &	cp
	)

virtual

Set the contact parameter of a node.

Implements mars::interfaces::NodeManagerInterface.

Definition at line 1359 of file NodeManager.cpp.

◆ setIsMovable()

void mars::sim::NodeManager::setIsMovable	(	interfaces::NodeId	id,
		bool	isMovable
	)

virtual

Implements mars::interfaces::NodeManagerInterface.

Definition at line 1661 of file NodeManager.cpp.

◆ setNodeState()

void mars::sim::NodeManager::setNodeState	(	interfaces::NodeId	id,
		const interfaces::nodeState &	state
	)

virtual

Set physical dynamic values for the node with the given id.

Implements mars::interfaces::NodeManagerInterface.

Definition at line 711 of file NodeManager.cpp.

◆ setNodeStructPositionFromRelative()

void mars::sim::NodeManager::setNodeStructPositionFromRelative ( interfaces::NodeData * node ) const

private

Definition at line 914 of file NodeManager.cpp.

◆ setPosition()

void mars::sim::NodeManager::setPosition	(	interfaces::NodeId	id,
		const utils::Vector &	pos
	)

virtual

Sets the position of the node with the given id.

Implements mars::interfaces::NodeManagerInterface.

Definition at line 751 of file NodeManager.cpp.

◆ setReloadAngle()

void mars::sim::NodeManager::setReloadAngle	(	interfaces::NodeId	id,
		const utils::sRotation &	angle
	)

virtual

Set the reload orientation of a node.

Implements mars::interfaces::NodeManagerInterface.

Definition at line 1340 of file NodeManager.cpp.

◆ setReloadExtent()

const Vector mars::sim::NodeManager::setReloadExtent	(	interfaces::NodeId	id,
		const utils::Vector &	ext
	)

virtual

set the size for the node with the given id.

Implements mars::interfaces::NodeManagerInterface.

Definition at line 1223 of file NodeManager.cpp.

◆ setReloadFriction()

void mars::sim::NodeManager::setReloadFriction	(	interfaces::NodeId	id,
		interfaces::sReal	friction1,
		interfaces::sReal	friction2
	)

virtual

Sets the new contact friction of a node after a reset of the simulation.

It is very important to assure the serialization between the threads to have the desired results. Currently the verified use of this function is only guaranteed by calling it within the main thread (update callback from gui_thread).

Parameters

id	The id of the node to edit.
friction1	The new contact friction coefficient for the first friction direction.
friction2	The new contact friction coefficient for the second friction direction.

See also: contact_params

Implements mars::interfaces::NodeManagerInterface.

Definition at line 1239 of file NodeManager.cpp.

◆ setReloadPosition()

void mars::sim::NodeManager::setReloadPosition	(	interfaces::NodeId	id,
		const utils::Vector &	pos
	)

virtual

set the position for the node with the given id.

Implements mars::interfaces::NodeManagerInterface.

Definition at line 1254 of file NodeManager.cpp.

◆ setReloadQuaternion()

void mars::sim::NodeManager::setReloadQuaternion	(	interfaces::NodeId	id,
		const utils::Quaternion &	q
	)

virtual

Set the reload orientation of a node by using a quaternion.

Implements mars::interfaces::NodeManagerInterface.

Definition at line 1348 of file NodeManager.cpp.

◆ setRotation()

void mars::sim::NodeManager::setRotation	(	interfaces::NodeId	id,
		const utils::Quaternion &	rot
	)

virtual

Sets the rotation of the node with the given id.

Implements mars::interfaces::NodeManagerInterface.

Definition at line 824 of file NodeManager.cpp.

◆ setVelocity()

void mars::sim::NodeManager::setVelocity	(	interfaces::NodeId	id,
		const utils::Vector &	vel
	)

virtual

Sets the linear velocity of a node.

It is very important to assure the serialization between the threads to have the desired results. Currently the verified use of this function is only guaranteed by calling it within the main thread (update callback from gui_thread).

Parameters

id	The id of the node to edit.
vel	The new linear velocity of the node. The vector describes the direction and the velocity (length of the vector).

Implements mars::interfaces::NodeManagerInterface.

Definition at line 1367 of file NodeManager.cpp.

◆ setVisualQOffset()

void mars::sim::NodeManager::setVisualQOffset	(	interfaces::NodeId	id,
		const utils::Quaternion &	q
	)

virtual

Implements mars::interfaces::NodeManagerInterface.

Definition at line 1634 of file NodeManager.cpp.

◆ setVisualRep()

void mars::sim::NodeManager::setVisualRep	(	interfaces::NodeId	id,
		int	val
	)

virtual

Implements mars::interfaces::NodeManagerInterface.

Definition at line 1530 of file NodeManager.cpp.

◆ unlock()

virtual void mars::sim::NodeManager::unlock ( )

inlinevirtual

Implements mars::interfaces::NodeManagerInterface.

Definition at line 153 of file NodeManager.h.

◆ updateDynamicNodes()

void mars::sim::NodeManager::updateDynamicNodes	(	interfaces::sReal	calc_ms,
		bool	physics_thread = `true`
	)

virtual

Updates the Node values of dynamical nodes from the physics.

Implements mars::interfaces::NodeManagerInterface.

Definition at line 1266 of file NodeManager.cpp.

◆ updatePR()

void mars::sim::NodeManager::updatePR	(	interfaces::NodeId	id,
		const utils::Vector &	pos,
		const utils::Quaternion &	rot,
		const utils::Vector &	visOffsetPos,
		const utils::Quaternion &	visOffsetRot,
		bool	doLock = `true`
	)

virtual

Implements mars::interfaces::NodeManagerInterface.

Definition at line 1640 of file NodeManager.cpp.

◆ updateRay()

void mars::sim::NodeManager::updateRay ( interfaces::NodeId id )

virtual

Implements mars::interfaces::NodeManagerInterface.

Definition at line 1491 of file NodeManager.cpp.

Member Data Documentation

◆ control

interfaces::ControlCenter* mars::sim::NodeManager::control

private

Definition at line 176 of file NodeManager.h.

◆ iMutex

utils::Mutex mars::sim::NodeManager::iMutex

mutableprivate

Definition at line 174 of file NodeManager.h.

◆ libManager

lib_manager::LibManager* mars::sim::NodeManager::libManager

private

Definition at line 173 of file NodeManager.h.

◆ maxGroupID

unsigned long mars::sim::NodeManager::maxGroupID

private

Definition at line 172 of file NodeManager.h.

◆ next_node_id

interfaces::NodeId mars::sim::NodeManager::next_node_id

private

Definition at line 164 of file NodeManager.h.

◆ nodesToUpdate

NodeMap mars::sim::NodeManager::nodesToUpdate

private

Definition at line 169 of file NodeManager.h.

◆ simNodes

NodeMap mars::sim::NodeManager::simNodes

private

Definition at line 167 of file NodeManager.h.

◆ simNodesDyn

NodeMap mars::sim::NodeManager::simNodesDyn

private

Definition at line 168 of file NodeManager.h.

◆ simNodesReload

std::list<interfaces::NodeData> mars::sim::NodeManager::simNodesReload

private

Definition at line 171 of file NodeManager.h.

◆ update_all_nodes

bool mars::sim::NodeManager::update_all_nodes

private

Definition at line 165 of file NodeManager.h.

◆ visual_rep

int mars::sim::NodeManager::visual_rep

private

Definition at line 166 of file NodeManager.h.

◆ vizNodes

NodeMap mars::sim::NodeManager::vizNodes

private

Definition at line 170 of file NodeManager.h.

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

/Developer/bob-learning-dev/simulation/mars/sim/src/core/NodeManager.h
/Developer/bob-learning-dev/simulation/mars/sim/src/core/NodeManager.cpp

Classes

Public Member Functions

Private Member Functions

Static Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ NodeManager()

◆ ~NodeManager()

Member Function Documentation

◆ addNode() [1/2]

◆ addNode() [2/2]

◆ addNodeSensor()

◆ addPrimitive()

◆ addRotation()

◆ addTerrain()

◆ applyForce() [1/2]

◆ applyForce() [2/2]

◆ applyMove()

◆ applyRotation()

◆ applyTorque()

◆ changeGroup()

◆ changeNode()

◆ clearAllNodes()

◆ clearRelativePosition()

◆ createPrimitiveNode()

◆ edit()

◆ editNode()

◆ exists()

◆ exportGraphicNodesByID()

◆ getAngularAcceleration()

◆ getAngularVelocity()

◆ getCenterOfMass()

◆ getCollisionDepth()

◆ getConnectedNodes()

◆ getContactForce()

◆ getContactIDs()

◆ getContactParams()

◆ getContactPoints()

◆ getDataBrokerNames()

◆ getDrawID()

◆ getFullNode()

◆ getID()

◆ getIsMovable()

◆ getLinearAcceleration()

◆ getLinearVelocity()

◆ getListNodes()

◆ getMaxGroupID()

◆ getNextNodeID()

◆ getNodeCount()

◆ getNodeExchange()

◆ getNodeMass()

◆ getNodeState()

◆ getPosition()

◆ getReloadNode()

◆ getRotation()

◆ getSimNode() [1/2]

◆ getSimNode() [2/2]

◆ lock()

◆ moveNodeRecursive()

◆ moveRelativeNodes()

◆ positionNode()

◆ preGraphicsUpdate()

◆ printNodeMasses()

◆ pushToUpdate()

◆ recursiveHelper()

◆ reloadNodes()

◆ reloadNodeSensor()

◆ removeNode() [1/2]

◆ removeNode() [2/2]

◆ resetRelativeJoints()

◆ resetRelativeNodes()

◆ rotateNode()

◆ rotateNodeRecursive()

◆ rotateRelativeNodes()

◆ scaleReloadNodes()

◆ setAngularDamping()

◆ setAngularVelocity()

◆ setContactParamMotion1()

◆ setContactParams()