The Simulator class implements the main functions of the MARS simulation. More...

#include <Simulator.h>

Classes
struct	LoadOptions

Public Types
enum	Status { UNKNOWN = -1, STOPPED = 0, RUNNING = 1, STOPPING = 2, STEPPING =3 }

Public Member Functions
	Simulator (lib_manager::LibManager *theManager)
	Constructor of the `class` Simulator. More...

virtual	~Simulator ()

int	getLibVersion () const

const std::string	getLibName () const

void	newLibLoaded (const std::string &libName)

	CREATE_MODULE_INFO ()

void	checkOptionalDependency (const std::string &libName)

void	updateSim ()
	Updates the graphical simulation. More...

void	myRealTime (void)
	control the realtime calculation More...

void	runSimulation (bool startThread=true)
	Initiates the simulation. More...

std::string	getTmpPath () const
	Returns the tmp path for temprary files, on linux /tmp/mars on windows the current config_dir. More...

virtual void	StartSimulation ()

virtual void	StopSimulation ()

virtual void	resetSim (bool resetGraphics=true)

virtual bool	isSimRunning () const

bool	startStopTrigger ()
	Starts and pauses the simulation. More...

virtual void	singleStep (void)

virtual void	newWorld (bool clear_all=false)

virtual void	exitMars (void)

void	readArguments (int argc, char **argv)

virtual interfaces::ControlCenter *	getControlCenter (void) const

void	addLight (interfaces::LightData light)

virtual void	connectNodes (unsigned long id1, unsigned long id2)

virtual void	disconnectNodes (unsigned long id1, unsigned long id2)

virtual void	rescaleEnvironment (interfaces::sReal x, interfaces::sReal y, interfaces::sReal z)

virtual int	loadScene (const std::string &filename, const std::string &robotname, bool threadsave=false, bool blocking=false)

virtual int	loadScene (const std::string &filename, bool wasrunning=false, const std::string &robotname="", bool threadsave=false, bool blocking=false)

virtual int	saveScene (const std::string &filename, bool wasrunning)

virtual void	exportScene () const
	Exports the current scene as both .obj and .osg file. More...

virtual bool	sceneChanged () const

virtual void	sceneHasChanged (bool reset)

virtual bool	allConcurrencysHandled ()
	Checks if external requests are open. More...

void	setSyncThreads (bool value)
	Syncs the threads of GUI and simulation. More...

virtual void	physicsThreadLock (void)

virtual void	physicsThreadUnlock (void)

virtual interfaces::PhysicsInterface *	getPhysics (void) const

virtual void	handleError (interfaces::PhysicsError error)

virtual void	setGravity (const utils::Vector &gravity)

virtual int	checkCollisions (void)

virtual bool	hasSimFault () const
	Checks if the physic simulation thread has been stopped caused by an ODE error. More...

virtual void	postGraphicsUpdate (void)

virtual void	finishedDraw (void)

void	allowDraw (void)
	Allows the osgWidget to draw a frame. More...

virtual bool	getAllowDraw (void)

virtual bool	getSyncGraphics (void)

virtual void	addPlugin (const interfaces::pluginStruct &plugin)

virtual void	removePlugin (interfaces::PluginInterface *pl)

virtual void	switchPluginUpdateMode (int mode, interfaces::PluginInterface *pl)

virtual void	sendDataToPlugin (int plugin_index, void *data)

virtual void	cfgUpdateProperty (cfg_manager::cfgPropertyStruct _property)

const std::string	getConfigDir () const

void	noGUITimerUpdate (void)

virtual void	receiveData (const data_broker::DataInfo &info, const data_broker::DataPackage &package, int callbackParam)
	The DataBroker will call this method to notify the receiver of whenever the condition for which the receiver registered occur. More...

virtual const utils::Vector &	getGravity (void)

virtual void	step (bool setState=false)

virtual unsigned long	getTime ()

Public Member Functions inherited from mars::utils::Thread
	Thread ()

virtual	~Thread ()

void	start ()
	Starts the execution of this Thread. More...

void	cancel (bool block=false)
	Tries to cancel the Thread. More...

void	setCancellationPoint ()
	Adds a cancellation point to your run method. More...

bool	wait ()
	stops execution until the thread has finished. More...

bool	join ()

bool	wait (unsigned long timeoutMilliseconds)
	puts the Thread to sleep for a specified amount of time. More...

bool	isRunning () const
	returns `true` if the Thread is running. More...

bool	isFinished () const

void	setStackSize (std::size_t stackSize)

std::size_t	getStackSize () const

bool	isCurrentThread () const

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

bool	allConcurrencysHandled ()

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

virtual	~GraphicsUpdateInterface (void)

virtual void	preGraphicsUpdate (void)

Public Member Functions inherited from lib_manager::LibInterface
	LibInterface (LibManager *theManager)

virtual	~LibInterface (void)

ModuleInfo	getModuleInfo () const

virtual void	createModuleInfo (void)

Public Member Functions inherited from mars::cfg_manager::CFGClient
	CFGClient ()

virtual	~CFGClient ()

virtual void	cfgParamCreated (cfgParamId _id)

virtual void	cfgParamRemoved (cfgParamId _id)

Public Member Functions inherited from mars::data_broker::ReceiverInterface
	ReceiverInterface ()

virtual	~ReceiverInterface ()

Static Public Attributes
static Simulator *	activeSimulator = 0

Protected Member Functions
void	run ()
	The simulator main loop. More...

Private Member Functions
void	processRequests ()
	This method is used for all calls that cannot be done from an external thread. More...

void	reloadWorld (void)

int	loadScene_internal (const std::string &filename, bool wasrunning, const std::string &robotname)

void	initCfgParams (void)

Private Attributes
int	arg_no_gui

int	arg_run

int	arg_grid

int	arg_ortho

bool	reloadSim

bool	reloadGraphics

short	running

char	was_running

bool	kill_sim

interfaces::ControlCenter *	control
	Pointer to instance of ControlCenter (created in Simulator::Simulator(lib_manager::LibManager *theManager)) More...

std::vector< LoadOptions >	filesToLoad

bool	sim_fault

bool	exit_sim

Status	simulationStatus

interfaces::sReal	sync_time

bool	my_real_time

bool	fast_step

bool	allow_draw

bool	sync_graphics

int	cameraMenuCheckedIndex

bool	erased_active

utils::ReadWriteLock	pluginLocker

int	sync_count

utils::Mutex	externalMutex

utils::Mutex	coreMutex

utils::Mutex	physicsMutex

utils::Mutex	physicsCountMutex

utils::Mutex	stepping_mutex
	Used for preventing active waiting for a single step or start event. More...

utils::WaitCondition	stepping_wc
	Used for preventing active waiting for a single step or start event. More...

utils::Mutex	getTimeMutex

int	physics_mutex_count

double	avg_log_time

double	avg_step_time

int	count

int	avg_count_steps

interfaces::sReal	calc_time

interfaces::PhysicsInterface *	physics

double	calc_ms

int	load_option

int	std_port
	Controller port (default value: 1600) More...

utils::Vector	gravity

unsigned long	dbPhysicsUpdateId

unsigned long	dbSimTimeId

unsigned long	dbSimDebugId

unsigned long	realStartTime

std::vector< interfaces::pluginStruct >	allPlugins

std::vector< interfaces::pluginStruct >	newPlugins

std::vector< interfaces::pluginStruct >	activePlugins

std::vector< interfaces::pluginStruct >	guiPlugins

std::string	scenename

std::list< std::string >	arg_v_scene_name

bool	b_SceneChanged

bool	haveNewPlugin

std::string	config_dir

cfg_manager::cfgPropertyStruct	cfgCalcMs

cfg_manager::cfgPropertyStruct	cfgFaststep

cfg_manager::cfgPropertyStruct	cfgRealtime

cfg_manager::cfgPropertyStruct	cfgDebugTime

cfg_manager::cfgPropertyStruct	cfgSyncGui

cfg_manager::cfgPropertyStruct	cfgDrawContact

cfg_manager::cfgPropertyStruct	cfgGX

cfg_manager::cfgPropertyStruct	cfgGY

cfg_manager::cfgPropertyStruct	cfgGZ

cfg_manager::cfgPropertyStruct	cfgWorldErp

cfg_manager::cfgPropertyStruct	cfgWorldCfm

cfg_manager::cfgPropertyStruct	cfgVisRep

cfg_manager::cfgPropertyStruct	cfgSyncTime

cfg_manager::cfgPropertyStruct	configPath

cfg_manager::cfgPropertyStruct	cfgUseNow

cfg_manager::cfgPropertyStruct	cfgAvgCountSteps

data_broker::DataPackage	dbPhysicsUpdatePackage

data_broker::DataPackage	dbSimTimePackage

data_broker::DataPackage	dbSimDebugPackage

Additional Inherited Members
Static Public Member Functions inherited from mars::utils::Thread
static Thread *	getCurrentThread ()

static void	cancelAll (bool block=false)

Static Public Member Functions inherited from mars::interfaces::SimulatorInterface
static SimulatorInterface *	getInstance (lib_manager::LibManager *libManager)

Static Protected Member Functions inherited from mars::utils::Thread
static void	msleep (unsigned long msec)
	causes the current thread to sleep for More...

Protected Attributes inherited from lib_manager::LibInterface
LibManager *	libManager

ModuleInfo	moduleInfo

Detailed Description

The Simulator class implements the main functions of the MARS simulation.

Its constructor presents the core function in the simulation and directly takes the arguments given by the user if the simulation is starting from a command line. It inherits the mars::Thread class and the i_GuiToSim A Simulator object presents a separate thread and shares data with all other threads within the process.(remarque) To handle and access the data of the Simulator properly, the mutex variable coreMutex is used.

Definition at line 64 of file Simulator.h.

Member Enumeration Documentation

◆ Status

enum mars::sim::Simulator::Status

Enumerator
UNKNOWN
STOPPED
RUNNING
STOPPING
STEPPING

Definition at line 73 of file Simulator.h.

Constructor & Destructor Documentation

◆ Simulator()

mars::sim::Simulator::Simulator ( lib_manager::LibManager * theManager )

Constructor of the class Simulator.

Definition at line 78 of file Simulator.cpp.

◆ ~Simulator()

mars::sim::Simulator::~Simulator ( )

virtual

Definition at line 137 of file Simulator.cpp.

Member Function Documentation

◆ addLight()

void mars::sim::Simulator::addLight ( interfaces::LightData light )

virtual

Implements mars::interfaces::SimulatorInterface.

Definition at line 655 of file Simulator.cpp.

◆ addPlugin()

void mars::sim::Simulator::addPlugin ( const interfaces::pluginStruct & plugin )

virtual

Implements mars::interfaces::SimulatorInterface.

Definition at line 1068 of file Simulator.cpp.

◆ allConcurrencysHandled()

bool mars::sim::Simulator::allConcurrencysHandled ( )

virtual

Checks if external requests are open.

Returns: true if no external requests are open.

Definition at line 1155 of file Simulator.cpp.

◆ allowDraw()

void mars::sim::Simulator::allowDraw ( void )

virtual

Allows the osgWidget to draw a frame.

This method is used for gui and simulation synchronization.

Implements mars::interfaces::SimulatorInterface.

Definition at line 1148 of file Simulator.cpp.

◆ cfgUpdateProperty()

void mars::sim::Simulator::cfgUpdateProperty ( cfg_manager::cfgPropertyStruct _property )

virtual

Reimplemented from mars::cfg_manager::CFGClient.

Definition at line 1200 of file Simulator.cpp.

◆ checkCollisions()

int mars::sim::Simulator::checkCollisions ( void )

virtual

Implements mars::interfaces::SimulatorInterface.

Definition at line 1122 of file Simulator.cpp.

◆ checkOptionalDependency()

void mars::sim::Simulator::checkOptionalDependency ( const std::string & libName )

Definition at line 172 of file Simulator.cpp.

◆ connectNodes()

void mars::sim::Simulator::connectNodes	(	unsigned long	id1,
		unsigned long	id2
	)

virtual

Implements mars::interfaces::SimulatorInterface.

Definition at line 904 of file Simulator.cpp.

◆ CREATE_MODULE_INFO()

mars::sim::Simulator::CREATE_MODULE_INFO ( )

◆ disconnectNodes()

void mars::sim::Simulator::disconnectNodes	(	unsigned long	id1,
		unsigned long	id2
	)

virtual

Implements mars::interfaces::SimulatorInterface.

Definition at line 912 of file Simulator.cpp.

◆ exitMars()

void mars::sim::Simulator::exitMars ( void )

virtual

Implements mars::interfaces::SimulatorInterface.

Definition at line 891 of file Simulator.cpp.

◆ exportScene()

void mars::sim::Simulator::exportScene ( void ) const

virtual

Exports the current scene as both *.obj and *.osg file.

Implements mars::interfaces::SimulatorInterface.

Definition at line 1191 of file Simulator.cpp.

◆ finishedDraw()

void mars::sim::Simulator::finishedDraw ( void )

virtual

Implements mars::interfaces::SimulatorInterface.

Definition at line 667 of file Simulator.cpp.

◆ getAllowDraw()

virtual bool mars::sim::Simulator::getAllowDraw ( void )

inlinevirtual

Implements mars::interfaces::SimulatorInterface.

Definition at line 173 of file Simulator.h.

◆ getConfigDir()

const std::string mars::sim::Simulator::getConfigDir ( ) const

inline

Definition at line 192 of file Simulator.h.

◆ getControlCenter()

ControlCenter * mars::sim::Simulator::getControlCenter ( void ) const

virtual

Implements mars::interfaces::SimulatorInterface.

Definition at line 1064 of file Simulator.cpp.

◆ getGravity()

const utils::Vector & mars::sim::Simulator::getGravity ( void )

virtual

Implements mars::interfaces::SimulatorInterface.

Definition at line 1374 of file Simulator.cpp.

◆ getLibName()

const std::string mars::sim::Simulator::getLibName ( ) const

inlinevirtual

Implements lib_manager::LibInterface.

Definition at line 91 of file Simulator.h.

◆ getLibVersion()

int mars::sim::Simulator::getLibVersion ( ) const

inlinevirtual

Implements lib_manager::LibInterface.

Definition at line 87 of file Simulator.h.

◆ getPhysics()

PhysicsInterface * mars::sim::Simulator::getPhysics ( void ) const

virtual

Implements mars::interfaces::SimulatorInterface.

Definition at line 883 of file Simulator.cpp.

◆ getSyncGraphics()

virtual bool mars::sim::Simulator::getSyncGraphics ( void )

inlinevirtual

Implements mars::interfaces::SimulatorInterface.

Definition at line 177 of file Simulator.h.

◆ getTime()

unsigned long mars::sim::Simulator::getTime ( )

virtual

Implements mars::interfaces::SimulatorInterface.

Definition at line 1378 of file Simulator.cpp.

◆ getTmpPath()

std::string mars::sim::Simulator::getTmpPath ( ) const

Returns the tmp path for temprary files, on linux /tmp/mars on windows the current config_dir.

Definition at line 562 of file Simulator.cpp.

◆ handleError()

void mars::sim::Simulator::handleError ( interfaces::PhysicsError error )

virtual

Implements mars::interfaces::SimulatorInterface.

Definition at line 1004 of file Simulator.cpp.

◆ hasSimFault()

bool mars::sim::Simulator::hasSimFault ( ) const

virtual

Checks if the physic simulation thread has been stopped caused by an ODE error.

If true you cannot recover (currently) from this point without restarting the simulation.

To extend this, restart the simulator thread and reset the scene (untested).

Returns: true if the simulation thread was not interrupted by ODE

Implements mars::interfaces::SimulatorInterface.

Definition at line 1000 of file Simulator.cpp.

◆ initCfgParams()

void mars::sim::Simulator::initCfgParams ( void )

private

Definition at line 1274 of file Simulator.cpp.

◆ isSimRunning()

bool mars::sim::Simulator::isSimRunning ( ) const

virtual

Implements mars::interfaces::SimulatorInterface.

Definition at line 554 of file Simulator.cpp.

◆ loadScene() [1/2]

int mars::sim::Simulator::loadScene	(	const std::string &	filename,
		const std::string &	robotname,
		bool	threadsave = `false`,
		bool	blocking = `false`
	)

virtual

Implements mars::interfaces::SimulatorInterface.

Definition at line 581 of file Simulator.cpp.

◆ loadScene() [2/2]

int mars::sim::Simulator::loadScene	(	const std::string &	filename,
		bool	wasrunning = `false`,
		const std::string &	robotname = `""`,
		bool	threadsave = `false`,
		bool	blocking = `false`
	)

virtual

Implements mars::interfaces::SimulatorInterface.

Definition at line 585 of file Simulator.cpp.

◆ loadScene_internal()

int mars::sim::Simulator::loadScene_internal	(	const std::string &	filename,
		bool	wasrunning,
		const std::string &	robotname
	)

private

Definition at line 607 of file Simulator.cpp.

◆ myRealTime()

void mars::sim::Simulator::myRealTime ( void )

control the realtime calculation

Definition at line 496 of file Simulator.cpp.

◆ newLibLoaded()

void mars::sim::Simulator::newLibLoaded ( const std::string & libName )

virtual

Reimplemented from lib_manager::LibInterface.

Definition at line 168 of file Simulator.cpp.

◆ newWorld()

void mars::sim::Simulator::newWorld ( bool clear_all = false )

virtual

Implements mars::interfaces::SimulatorInterface.

Definition at line 741 of file Simulator.cpp.

◆ noGUITimerUpdate()

void mars::sim::Simulator::noGUITimerUpdate ( void )

Definition at line 1059 of file Simulator.cpp.

◆ physicsThreadLock()

void mars::sim::Simulator::physicsThreadLock ( void )

virtual

Implements mars::interfaces::SimulatorInterface.

Definition at line 865 of file Simulator.cpp.

◆ physicsThreadUnlock()

void mars::sim::Simulator::physicsThreadUnlock ( void )

virtual

Implements mars::interfaces::SimulatorInterface.

Definition at line 874 of file Simulator.cpp.

◆ postGraphicsUpdate()

void mars::sim::Simulator::postGraphicsUpdate ( void )

virtual

Reimplemented from mars::interfaces::GraphicsUpdateInterface.

Definition at line 887 of file Simulator.cpp.

◆ processRequests()

void mars::sim::Simulator::processRequests ( )

private

This method is used for all calls that cannot be done from an external thread.

This means the requests have to be caches (like in loadScene) and have to be handled by this method, which is called by Simulator::run().

Definition at line 1163 of file Simulator.cpp.

◆ readArguments()

void mars::sim::Simulator::readArguments	(	int	argc,
		char **	argv
	)

virtual

Implements mars::interfaces::SimulatorInterface.

Definition at line 789 of file Simulator.cpp.

◆ receiveData()

void mars::sim::Simulator::receiveData	(	const data_broker::DataInfo &	info,
		const data_broker::DataPackage &	dataPackage,
		int	callbackParam
	)

virtual

The DataBroker will call this method to notify the receiver of whenever the condition for which the receiver registered occur.

Parameters

info	Information about the DataPackage.
dataPackage	The DataPackage containing all the data.
callbackParam	The `int` the receiver passed during registration. The default (the receiver didn't provide a callbackParam) is 0. This can be used to easily distinguish different registrations.

Implements mars::data_broker::ReceiverInterface.

Definition at line 1327 of file Simulator.cpp.

◆ reloadWorld()

void mars::sim::Simulator::reloadWorld ( void )

private

Definition at line 782 of file Simulator.cpp.

◆ removePlugin()

void mars::sim::Simulator::removePlugin ( interfaces::PluginInterface * pl )

virtual

Implements mars::interfaces::SimulatorInterface.

Definition at line 1075 of file Simulator.cpp.

◆ rescaleEnvironment()

void mars::sim::Simulator::rescaleEnvironment	(	interfaces::sReal	x,
		interfaces::sReal	y,
		interfaces::sReal	z
	)

virtual

Implements mars::interfaces::SimulatorInterface.

Definition at line 916 of file Simulator.cpp.

◆ resetSim()

void mars::sim::Simulator::resetSim ( bool resetGraphics = true )

virtual

Implements mars::interfaces::SimulatorInterface.

Definition at line 763 of file Simulator.cpp.

◆ run()

void mars::sim::Simulator::run ( void )

protectedvirtual

The simulator main loop.

This function is executing while the program is running.

It handles the physical simulation, if the physical simulation is started, otherwise the function is in idle mode.

pre: start the simulator thread and by the way the Physics loop

post:

Implements mars::utils::Thread.

Definition at line 320 of file Simulator.cpp.

◆ runSimulation()

void mars::sim::Simulator::runSimulation ( bool startThread = true )

virtual

Initiates the simulation.

Implements mars::interfaces::SimulatorInterface.

Definition at line 226 of file Simulator.cpp.

◆ saveScene()

int mars::sim::Simulator::saveScene	(	const std::string &	filename,
		bool	wasrunning
	)

virtual

Implements mars::interfaces::SimulatorInterface.

Definition at line 642 of file Simulator.cpp.

◆ sceneChanged()

bool mars::sim::Simulator::sceneChanged ( ) const

virtual

Implements mars::interfaces::SimulatorInterface.

Definition at line 558 of file Simulator.cpp.

◆ sceneHasChanged()

void mars::sim::Simulator::sceneHasChanged ( bool reset )

virtual

Implements mars::interfaces::SimulatorInterface.

Definition at line 573 of file Simulator.cpp.

◆ sendDataToPlugin()

void mars::sim::Simulator::sendDataToPlugin	(	int	plugin_index,
		void *	data
	)

virtual

Implements mars::interfaces::SimulatorInterface.

Definition at line 1126 of file Simulator.cpp.

◆ setGravity()

void mars::sim::Simulator::setGravity ( const utils::Vector & gravity )

virtual

Implements mars::interfaces::SimulatorInterface.

Definition at line 1047 of file Simulator.cpp.

◆ setSyncThreads()

void mars::sim::Simulator::setSyncThreads ( bool value )

virtual

Syncs the threads of GUI and simulation.

Implements mars::interfaces::SimulatorInterface.

Definition at line 1133 of file Simulator.cpp.

◆ singleStep()

void mars::sim::Simulator::singleStep ( void )

virtual

Implements mars::interfaces::SimulatorInterface.

Definition at line 926 of file Simulator.cpp.

◆ StartSimulation()

virtual void mars::sim::Simulator::StartSimulation ( )

inlinevirtual

Implements mars::interfaces::SimulatorInterface.

Definition at line 112 of file Simulator.h.

◆ startStopTrigger()

bool mars::sim::Simulator::startStopTrigger ( )

virtual

Starts and pauses the simulation.

Returns: true if started, false if stopped

Implements mars::interfaces::SimulatorInterface.

Definition at line 463 of file Simulator.cpp.

◆ step()

void mars::sim::Simulator::step ( bool setState = false )

virtual

Implements mars::interfaces::SimulatorInterface.

Definition at line 360 of file Simulator.cpp.

◆ StopSimulation()

virtual void mars::sim::Simulator::StopSimulation ( )

inlinevirtual

Implements mars::interfaces::SimulatorInterface.

Definition at line 119 of file Simulator.h.

◆ switchPluginUpdateMode()

void mars::sim::Simulator::switchPluginUpdateMode	(	int	mode,
		interfaces::PluginInterface *	pl
	)

virtual

Implements mars::interfaces::SimulatorInterface.

Definition at line 933 of file Simulator.cpp.

◆ updateSim()

void mars::sim::Simulator::updateSim ( )

Updates the graphical simulation.

Calls GraphicsManager::update() method to redraw all OSG objects in the simulation.

Definition at line 1140 of file Simulator.cpp.

Member Data Documentation

◆ activePlugins

std::vector<interfaces::pluginStruct> mars::sim::Simulator::activePlugins

private

Definition at line 276 of file Simulator.h.

◆ activeSimulator

Simulator * mars::sim::Simulator::activeSimulator = 0

static

Definition at line 83 of file Simulator.h.

◆ allow_draw

bool mars::sim::Simulator::allow_draw

private

Definition at line 243 of file Simulator.h.

◆ allPlugins

std::vector<interfaces::pluginStruct> mars::sim::Simulator::allPlugins

private

Definition at line 274 of file Simulator.h.

◆ arg_grid

int mars::sim::Simulator::arg_grid

private

Definition at line 228 of file Simulator.h.

◆ arg_no_gui

int mars::sim::Simulator::arg_no_gui

private

Definition at line 228 of file Simulator.h.

◆ arg_ortho

int mars::sim::Simulator::arg_ortho

private

Definition at line 228 of file Simulator.h.

◆ arg_run

int mars::sim::Simulator::arg_run

private

Definition at line 228 of file Simulator.h.

◆ arg_v_scene_name

std::list<std::string> mars::sim::Simulator::arg_v_scene_name

private

Definition at line 282 of file Simulator.h.

◆ avg_count_steps

int mars::sim::Simulator::avg_count_steps

private

Definition at line 260 of file Simulator.h.

◆ avg_log_time

double mars::sim::Simulator::avg_log_time

private

Definition at line 259 of file Simulator.h.

◆ avg_step_time

double mars::sim::Simulator::avg_step_time

private

Definition at line 259 of file Simulator.h.

◆ b_SceneChanged

bool mars::sim::Simulator::b_SceneChanged

private

Definition at line 283 of file Simulator.h.

◆ calc_ms

double mars::sim::Simulator::calc_ms

private

Definition at line 265 of file Simulator.h.

◆ calc_time

interfaces::sReal mars::sim::Simulator::calc_time

private

Definition at line 261 of file Simulator.h.

◆ cameraMenuCheckedIndex

int mars::sim::Simulator::cameraMenuCheckedIndex

private

Definition at line 245 of file Simulator.h.

◆ cfgAvgCountSteps

cfg_manager::cfgPropertyStruct mars::sim::Simulator::cfgAvgCountSteps

private

Definition at line 298 of file Simulator.h.

◆ cfgCalcMs

cfg_manager::cfgPropertyStruct mars::sim::Simulator::cfgCalcMs

private

Definition at line 289 of file Simulator.h.

◆ cfgDebugTime

cfg_manager::cfgPropertyStruct mars::sim::Simulator::cfgDebugTime

private

Definition at line 290 of file Simulator.h.

◆ cfgDrawContact

cfg_manager::cfgPropertyStruct mars::sim::Simulator::cfgDrawContact

private

Definition at line 291 of file Simulator.h.

◆ cfgFaststep

cfg_manager::cfgPropertyStruct mars::sim::Simulator::cfgFaststep

private

Definition at line 289 of file Simulator.h.

◆ cfgGX

cfg_manager::cfgPropertyStruct mars::sim::Simulator::cfgGX

private

Definition at line 292 of file Simulator.h.

◆ cfgGY

cfg_manager::cfgPropertyStruct mars::sim::Simulator::cfgGY

private

Definition at line 292 of file Simulator.h.

◆ cfgGZ

cfg_manager::cfgPropertyStruct mars::sim::Simulator::cfgGZ

private

Definition at line 292 of file Simulator.h.

◆ cfgRealtime

cfg_manager::cfgPropertyStruct mars::sim::Simulator::cfgRealtime

private

Definition at line 290 of file Simulator.h.

◆ cfgSyncGui

cfg_manager::cfgPropertyStruct mars::sim::Simulator::cfgSyncGui

private

Definition at line 291 of file Simulator.h.

◆ cfgSyncTime

cfg_manager::cfgPropertyStruct mars::sim::Simulator::cfgSyncTime

private

Definition at line 295 of file Simulator.h.

◆ cfgUseNow

cfg_manager::cfgPropertyStruct mars::sim::Simulator::cfgUseNow

private

Definition at line 297 of file Simulator.h.

◆ cfgVisRep

cfg_manager::cfgPropertyStruct mars::sim::Simulator::cfgVisRep

private

Definition at line 294 of file Simulator.h.

◆ cfgWorldCfm

cfg_manager::cfgPropertyStruct mars::sim::Simulator::cfgWorldCfm

private

Definition at line 293 of file Simulator.h.

◆ cfgWorldErp

cfg_manager::cfgPropertyStruct mars::sim::Simulator::cfgWorldErp

private

Definition at line 293 of file Simulator.h.

◆ config_dir

std::string mars::sim::Simulator::config_dir

private

Definition at line 288 of file Simulator.h.

◆ configPath

cfg_manager::cfgPropertyStruct mars::sim::Simulator::configPath

private

Definition at line 296 of file Simulator.h.

◆ control

interfaces::ControlCenter* mars::sim::Simulator::control

private

Pointer to instance of ControlCenter (created in Simulator::Simulator(lib_manager::LibManager *theManager))

Definition at line 233 of file Simulator.h.

◆ coreMutex

utils::Mutex mars::sim::Simulator::coreMutex

private

Definition at line 252 of file Simulator.h.

◆ count

int mars::sim::Simulator::count

private

Definition at line 260 of file Simulator.h.

◆ dbPhysicsUpdateId

unsigned long mars::sim::Simulator::dbPhysicsUpdateId

private

Definition at line 269 of file Simulator.h.

◆ dbPhysicsUpdatePackage

data_broker::DataPackage mars::sim::Simulator::dbPhysicsUpdatePackage

private

Definition at line 301 of file Simulator.h.

◆ dbSimDebugId

unsigned long mars::sim::Simulator::dbSimDebugId

private

Definition at line 270 of file Simulator.h.

◆ dbSimDebugPackage

data_broker::DataPackage mars::sim::Simulator::dbSimDebugPackage

private

Definition at line 303 of file Simulator.h.

◆ dbSimTimeId

unsigned long mars::sim::Simulator::dbSimTimeId

private

Definition at line 270 of file Simulator.h.

◆ dbSimTimePackage

data_broker::DataPackage mars::sim::Simulator::dbSimTimePackage

private

Definition at line 302 of file Simulator.h.

◆ erased_active

bool mars::sim::Simulator::erased_active

private

Definition at line 248 of file Simulator.h.

◆ exit_sim

bool mars::sim::Simulator::exit_sim

private

Definition at line 236 of file Simulator.h.

◆ externalMutex

utils::Mutex mars::sim::Simulator::externalMutex

private

Definition at line 251 of file Simulator.h.

◆ fast_step

bool mars::sim::Simulator::fast_step

private

Definition at line 240 of file Simulator.h.

◆ filesToLoad

std::vector<LoadOptions> mars::sim::Simulator::filesToLoad

private

Definition at line 234 of file Simulator.h.

◆ getTimeMutex

utils::Mutex mars::sim::Simulator::getTimeMutex

private

Definition at line 257 of file Simulator.h.

◆ gravity

utils::Vector mars::sim::Simulator::gravity

private

Definition at line 268 of file Simulator.h.

◆ guiPlugins

std::vector<interfaces::pluginStruct> mars::sim::Simulator::guiPlugins

private

Definition at line 277 of file Simulator.h.

◆ haveNewPlugin

bool mars::sim::Simulator::haveNewPlugin

private

Definition at line 284 of file Simulator.h.

◆ kill_sim

bool mars::sim::Simulator::kill_sim

private

Definition at line 232 of file Simulator.h.

◆ load_option

int mars::sim::Simulator::load_option

private

Definition at line 266 of file Simulator.h.

◆ my_real_time

bool mars::sim::Simulator::my_real_time

private

Definition at line 239 of file Simulator.h.

◆ newPlugins

std::vector<interfaces::pluginStruct> mars::sim::Simulator::newPlugins

private

Definition at line 275 of file Simulator.h.

◆ physics

interfaces::PhysicsInterface* mars::sim::Simulator::physics

private

Definition at line 264 of file Simulator.h.

◆ physics_mutex_count

int mars::sim::Simulator::physics_mutex_count

private

Definition at line 258 of file Simulator.h.

◆ physicsCountMutex

utils::Mutex mars::sim::Simulator::physicsCountMutex

private

Definition at line 254 of file Simulator.h.

◆ physicsMutex

utils::Mutex mars::sim::Simulator::physicsMutex

private

Definition at line 253 of file Simulator.h.

◆ pluginLocker

utils::ReadWriteLock mars::sim::Simulator::pluginLocker

private

Definition at line 249 of file Simulator.h.

◆ realStartTime

unsigned long mars::sim::Simulator::realStartTime

private

Definition at line 271 of file Simulator.h.

◆ reloadGraphics

bool mars::sim::Simulator::reloadGraphics

private

Definition at line 229 of file Simulator.h.

◆ reloadSim

bool mars::sim::Simulator::reloadSim

private

Definition at line 229 of file Simulator.h.

◆ running

short mars::sim::Simulator::running

private

Definition at line 230 of file Simulator.h.

◆ scenename

std::string mars::sim::Simulator::scenename

private

Definition at line 281 of file Simulator.h.

◆ sim_fault

bool mars::sim::Simulator::sim_fault

private

Definition at line 235 of file Simulator.h.

◆ simulationStatus

Status mars::sim::Simulator::simulationStatus

private

Definition at line 237 of file Simulator.h.

◆ std_port

int mars::sim::Simulator::std_port

private

Controller port (default value: 1600)

Definition at line 267 of file Simulator.h.

◆ stepping_mutex

utils::Mutex mars::sim::Simulator::stepping_mutex

private

Used for preventing active waiting for a single step or start event.

Definition at line 255 of file Simulator.h.

◆ stepping_wc

utils::WaitCondition mars::sim::Simulator::stepping_wc

private

Used for preventing active waiting for a single step or start event.

Definition at line 256 of file Simulator.h.

◆ sync_count

int mars::sim::Simulator::sync_count

private

Definition at line 250 of file Simulator.h.

◆ sync_graphics

bool mars::sim::Simulator::sync_graphics

private

Definition at line 244 of file Simulator.h.

◆ sync_time

interfaces::sReal mars::sim::Simulator::sync_time

private

Definition at line 238 of file Simulator.h.

◆ was_running

char mars::sim::Simulator::was_running

private

Definition at line 231 of file Simulator.h.

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

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

Classes

Public Types

Public Member Functions

Static Public Attributes

Protected Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ Status

Constructor & Destructor Documentation

◆ Simulator()

◆ ~Simulator()

Member Function Documentation

◆ addLight()

◆ addPlugin()

◆ allConcurrencysHandled()

◆ allowDraw()

◆ cfgUpdateProperty()

◆ checkCollisions()

◆ checkOptionalDependency()

◆ connectNodes()

◆ CREATE_MODULE_INFO()

◆ disconnectNodes()

◆ exitMars()

◆ exportScene()

◆ finishedDraw()

◆ getAllowDraw()

◆ getConfigDir()

◆ getControlCenter()

◆ getGravity()

◆ getLibName()

◆ getLibVersion()

◆ getPhysics()

◆ getSyncGraphics()

◆ getTime()

◆ getTmpPath()

◆ handleError()

◆ hasSimFault()

◆ initCfgParams()

◆ isSimRunning()

◆ loadScene() [1/2]

◆ loadScene() [2/2]

◆ loadScene_internal()

◆ myRealTime()

◆ newLibLoaded()

◆ newWorld()

◆ noGUITimerUpdate()

◆ physicsThreadLock()

◆ physicsThreadUnlock()

◆ postGraphicsUpdate()

◆ processRequests()

◆ readArguments()

◆ receiveData()

◆ reloadWorld()

◆ removePlugin()

◆ rescaleEnvironment()

◆ resetSim()

◆ run()

◆ runSimulation()

◆ saveScene()

◆ sceneChanged()

◆ sceneHasChanged()

◆ sendDataToPlugin()

◆ setGravity()

◆ setSyncThreads()

◆ singleStep()

◆ StartSimulation()

◆ startStopTrigger()

◆ step()

◆ StopSimulation()

◆ switchPluginUpdateMode()

◆ updateSim()

Member Data Documentation

◆ activePlugins

◆ activeSimulator

◆ allow_draw

◆ allPlugins

◆ arg_grid