mars::sim::SimEntity Class Reference

#include <SimEntity.h>

Public Member Functions
	SimEntity (const std::string &name)
	SimEntity (const configmaps::ConfigMap &parameters)
	SimEntity (interfaces::ControlCenter *c, const std::string &name)
	SimEntity (interfaces::ControlCenter *c, const configmaps::ConfigMap &parameters)
void	appendConfig (const configmaps::ConfigMap &parameters)
void	removeEntity ()
void	addNode (unsigned long nodeId, const std::string &name)
void	addJoint (long unsigned int jointId, const std::string &name)
void	addMotor (unsigned long motorId, const std::string &name)
void	addController (unsigned long controllerId)
void	addSensor (unsigned long sensorId, const std::string &name)
bool	select (unsigned long nodeId)
	notify the robot that a node has been selected the robot will check if the node belongs to it More...
bool	deSelect (unsigned long nodeId)
	notify the robot that a node has been deselected the robot will check if the node belongs to it More...
std::string	getName ()
bool	isSelected ()
bool	belongsToRobot (unsigned long nodeId)
unsigned long	getNode (const std::string &name)
	returns the id of the node with the given name with the current implementation this is slow More...
std::string	getNode (unsigned long id)
unsigned long	getMotor (const std::string &name)
	returns the id of the motor with the given name with the current implementation this is slow O(n) More...
std::string	getMotor (long unsigned int id)
std::vector< unsigned long >	getControllerList ()
unsigned long	getJoint (const std::string &name)
std::string	getJoint (unsigned long id)
const configmaps::ConfigMap	getConfig ()
void	setInitialPose (bool reset=false)
interfaces::sReal	getEntityMass ()
utils::Vector	getEntityCOM ()
void	printNodes ()
void	printMotors ()
void	printControllers ()

Private Attributes
std::string	name
interfaces::ControlCenter *	control
configmaps::ConfigMap	config
std::map< unsigned long, std::string >	nodeIds
std::map< unsigned long, std::string >	motorIds
std::vector< unsigned long >	controllerIds
std::map< unsigned long, std::string >	sensorIds
std::map< unsigned long, std::string >	jointIds
std::set< unsigned long >	selectedNodes
bool	selected

Detailed Description

Definition at line 46 of file SimEntity.h.

Constructor & Destructor Documentation

SimEntity() [1/4]

mars::sim::SimEntity::SimEntity

(

const std::string &

name

)

Definition at line 39 of file SimEntity.cpp.

SimEntity() [2/4]

mars::sim::SimEntity::SimEntity

(

const configmaps::ConfigMap &

parameters

)

Definition at line 43 of file SimEntity.cpp.

SimEntity() [3/4]

mars::sim::SimEntity::SimEntity	(	interfaces::ControlCenter *	c,
		const std::string &	name
	)

Definition at line 49 of file SimEntity.cpp.

SimEntity() [4/4]

mars::sim::SimEntity::SimEntity	(	interfaces::ControlCenter *	c,
		const configmaps::ConfigMap &	parameters
	)

Definition at line 54 of file SimEntity.cpp.

Member Function Documentation

addController()

void mars::sim::SimEntity::addController

(

unsigned long

controllerId

)

Definition at line 82 of file SimEntity.cpp.

addJoint()

void mars::sim::SimEntity::addJoint	(	long unsigned int	jointId,
		const std::string &	name
	)

Definition at line 86 of file SimEntity.cpp.

addMotor()

void mars::sim::SimEntity::addMotor	(	unsigned long	motorId,
		const std::string &	name
	)

Definition at line 78 of file SimEntity.cpp.

addNode()

void mars::sim::SimEntity::addNode	(	unsigned long	nodeId,
		const std::string &	name
	)

Definition at line 74 of file SimEntity.cpp.

addSensor()

void mars::sim::SimEntity::addSensor	(	unsigned long	sensorId,
		const std::string &	name
	)

Definition at line 90 of file SimEntity.cpp.

appendConfig()

void mars::sim::SimEntity::appendConfig

(

const configmaps::ConfigMap &

parameters

)

Definition at line 61 of file SimEntity.cpp.

belongsToRobot()

bool mars::sim::SimEntity::belongsToRobot

(

unsigned long

nodeId

)

deSelect()

bool mars::sim::SimEntity::deSelect

(

unsigned long

nodeId

)

notify the robot that a node has been deselected the robot will check if the node belongs to it

Returns

true if the node belongs to the robot; false otherwise

getConfig()

const ConfigMap mars::sim::SimEntity::getConfig

(

)

Definition at line 149 of file SimEntity.cpp.

getControllerList()

std::vector< unsigned long > mars::sim::SimEntity::getControllerList

(

)

Definition at line 153 of file SimEntity.cpp.

getEntityCOM()

utils::Vector mars::sim::SimEntity::getEntityCOM

(

)

Definition at line 301 of file SimEntity.cpp.

getEntityMass()

sReal mars::sim::SimEntity::getEntityMass

(

)

Definition at line 289 of file SimEntity.cpp.

getJoint() [1/2]

long unsigned int mars::sim::SimEntity::getJoint

(

const std::string &

name

)

Definition at line 135 of file SimEntity.cpp.

getJoint() [2/2]

std::string mars::sim::SimEntity::getJoint

(

unsigned long

id

)

getMotor() [1/2]

long unsigned int mars::sim::SimEntity::getMotor

(

const std::string &

name

)

returns the id of the motor with the given name with the current implementation this is slow O(n)

Definition at line 121 of file SimEntity.cpp.

getMotor() [2/2]

std::string mars::sim::SimEntity::getMotor

(

long unsigned int

id

)

Definition at line 130 of file SimEntity.cpp.

getName()

std::string mars::sim::SimEntity::getName ( )

inline

Definition at line 86 of file SimEntity.h.

getNode() [1/2]

long unsigned int mars::sim::SimEntity::getNode

(

const std::string &

name

)

returns the id of the node with the given name with the current implementation this is slow

Definition at line 107 of file SimEntity.cpp.

getNode() [2/2]

std::string mars::sim::SimEntity::getNode

(

unsigned long

id

)

isSelected()

bool mars::sim::SimEntity::isSelected ( )

inline

Definition at line 91 of file SimEntity.h.

printControllers()

void mars::sim::SimEntity::printControllers

(

)

Definition at line 175 of file SimEntity.cpp.

printMotors()

void mars::sim::SimEntity::printMotors

(

)

Definition at line 166 of file SimEntity.cpp.

printNodes()

void mars::sim::SimEntity::printNodes

(

)

Definition at line 157 of file SimEntity.cpp.

removeEntity()

void mars::sim::SimEntity::removeEntity

(

)

Definition at line 66 of file SimEntity.cpp.

select()

bool mars::sim::SimEntity::select

(

unsigned long

nodeId

)

notify the robot that a node has been selected the robot will check if the node belongs to it

Returns

true if the node belongs to the robot; false otherwise

Definition at line 94 of file SimEntity.cpp.

setInitialPose()

void mars::sim::SimEntity::setInitialPose

(

bool

reset = false

)

Definition at line 182 of file SimEntity.cpp.

Member Data Documentation

config

configmaps::ConfigMap mars::sim::SimEntity::config

private

Definition at line 136 of file SimEntity.h.

control

interfaces::ControlCenter* mars::sim::SimEntity::control

private

Definition at line 135 of file SimEntity.h.

controllerIds

std::vector<unsigned long> mars::sim::SimEntity::controllerIds

private

Definition at line 145 of file SimEntity.h.

jointIds

std::map<unsigned long, std::string> mars::sim::SimEntity::jointIds

private

Definition at line 151 of file SimEntity.h.

motorIds

std::map<unsigned long, std::string> mars::sim::SimEntity::motorIds

private

Definition at line 142 of file SimEntity.h.

name

std::string mars::sim::SimEntity::name

private

Definition at line 134 of file SimEntity.h.

nodeIds

std::map<unsigned long, std::string> mars::sim::SimEntity::nodeIds

private

Definition at line 139 of file SimEntity.h.

selected

bool mars::sim::SimEntity::selected

private

Definition at line 157 of file SimEntity.h.

selectedNodes

std::set<unsigned long> mars::sim::SimEntity::selectedNodes

private

Definition at line 154 of file SimEntity.h.

sensorIds

std::map<unsigned long, std::string> mars::sim::SimEntity::sensorIds

private

Definition at line 148 of file SimEntity.h.

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

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