cajun::sim_world_t Class Reference

#include <sim_world.H>

List of all members.

Public Member Functions
	sim_world_t (char const *obj_file, char const *rndf_file, bool no_sleep, proj_t *proj, char const *lane_dir_, bool pub_pt_, bool pub_obj_)
	~sim_world_t ()
void	start_world ()
Private Member Functions
void	read_object_file (char const *filename)
	Load object file into simulator.
bool	read_object_file_v1 (char const *filename)
	Load object file version 1 into simulator.
bool	read_object_file_v2 (char const *filename)
	Load object file version 2 into simulator.
void	add_object (object_info_t *obj_info)
double	get_avg_step_time ()
void	check_collisions ()
void	remove_collision_joints ()
Static Private Member Functions
static void	collision_callback (void *data, dGeomID o1, dGeomID o2)
Private Attributes
sim_world_object_t *	m_sim_object
std::vector< sim_world_object_t * >	m_objects
char const *	m_object_file
double	m_step_increment
double	m_step_hist [STEP_HIST_SIZE]
unsigned	m_step_hist_counter
double	m_current_time
unsigned	m_sleep_time
double	m_prev_time
double	m_play_value
bool	m_no_sleep
sim_time_data_t	m_sim_time
std::vector< obstacle_data_t > *	obstacle_data_list
std::vector < obstacle_points_data_t > *	obstacle_point_list
access_data_t *	m_access_data
playback_control_data_t	m_playback_control_data
dGeomID	m_ground
dSpaceID	m_world_space
rndf_tool_t *	m_rndf_tool
rndf_t *	m_rndf
char const *	m_lane_dir
bool	m_publish_points
bool	m_publish_objects
Static Private Attributes
static dJointGroupID	m_contact_group
static dWorldID	m_world_body

---

Constructor & Destructor Documentation

sim_world_t::sim_world_t	(	char const *	obj_file,
		char const *	rndf_file,
		bool	no_sleep,
		proj_t *	proj,
		char const *	lane_dir_,
		bool	pub_pt_,
		bool	pub_obj_
	)

References m_access_data, m_contact_group, m_current_time, m_ground, m_lane_dir, m_no_sleep, m_object_file, m_play_value, m_prev_time, m_publish_objects, m_publish_points, m_rndf, m_rndf_tool, m_sim_object, m_sim_time, m_sleep_time, m_step_hist, m_step_hist_counter, m_step_increment, m_world_body, m_world_space, and read_object_file().

sim_world_t::~sim_world_t

(

)

References m_sim_object.

---

Member Function Documentation

void sim_world_t::add_object

(

object_info_t *

obj_info

)

[private]

References cajun::DYN_NO_SIM, cajun::DYN_SIM, m_access_data, m_ground, m_lane_dir, cajun::object_info_t::m_object, m_objects, m_rndf, m_rndf_tool, m_sim_object, m_world_body, m_world_space, cajun::MESH, and cajun::STATIC.

Referenced by read_object_file_v1(), and read_object_file_v2().

void sim_world_t::check_collisions

(

)

[private]

References collision_callback(), and m_world_space.

Referenced by start_world().

void sim_world_t::collision_callback	(	void *	data,
		dGeomID	o1,
		dGeomID	o2
	)			[static, private]

References cajun::sim_world_object_t::collided(), cajun::cbsim_utils_t::log(), m_contact_group, m_world_body, and cajun::sim_world_object_t::obj_id().

Referenced by check_collisions().

double sim_world_t::get_avg_step_time

(

)

[private]

References m_step_hist, and STEP_HIST_SIZE.

Referenced by start_world().

void sim_world_t::read_object_file

(

char const *

filename

)

[private]

Load object file into simulator.

Will test for xml object file format and attempt to load it, otherwise it will attempt to load older version of object file.

Parameters:

filename

Object file provided, either old *.obj or newer *xml

References progname, read_object_file_v1(), and read_object_file_v2().

Referenced by sim_world_t().

bool sim_world_t::read_object_file_v1

(

char const *

filename

)

[private]

Load object file version 1 into simulator.

Will load original object file format into simulator.

Parameters:

filename

Object file provided, in simulator's .obj format.

Returns:

True if load was successful.

References add_object(), cajun::goal_t::angle, cajun::goal_t::distance, cajun::DYN_SIM, cajun::mesh_object_info_t::indices_file_is_full_path, cajun::waypoint_data_t::initial_pause, cajun::rndf_goal_t::lane, cajun::object_info_t::m_controller, cajun::object_info_t::m_dyn_sim_data, cajun::object_info_t::m_lane_id, cajun::object_info_t::m_mesh_object, cajun::object_info_t::m_num_objects, cajun::object_info_t::m_num_sensors, cajun::object_info_t::m_object, cajun::object_info_t::m_object_id, cajun::object_info_t::m_orient_x, cajun::object_info_t::m_orient_y, cajun::object_info_t::m_orient_z, cajun::object_info_t::m_pos_x, cajun::object_info_t::m_pos_y, cajun::object_info_t::m_pos_z, cajun::object_info_t::m_script_data, cajun::object_info_t::m_segment_id, cajun::object_info_t::m_sensor, cajun::object_info_t::m_shape, cajun::object_info_t::m_size_x, cajun::object_info_t::m_size_y, cajun::object_info_t::m_size_z, cajun::object_info_t::m_waypoint_data, cajun::object_info_t::m_wp_id, cajun::MESH, cajun::rndf_goal_t::pause, cajun::goal_t::pause, progname, cajun::SCRIPT, cajun::rndf_goal_t::segment, cajun::sensor_object_t::sensor, cajun::sensor_object_t::sensor_filename, cajun::rndf_goal_t::sog, cajun::goal_t::sog, cajun::STATIC, cajun::mesh_object_info_t::vertices_file_is_full_path, cajun::rndf_goal_t::waypoint, and cajun::WAYPOINT.

Referenced by read_object_file().

bool sim_world_t::read_object_file_v2

(

char const *

filename

)

[private]

Load object file version 2 into simulator.

Will load XML-based object file format into simulator.

Parameters:

filename

Object file provided, in the newer XML-based format.

Returns:

True if load was successful.

References add_object(), cajun::DYN_NO_SIM, cajun::DYN_SIM, cajun::mesh_object_info_t::indices_file, cajun::mesh_object_info_t::indices_file_is_full_path, cajun::waypoint_data_t::initial_pause, cajun::rndf_goal_t::lane, cajun::dyn_sim_object_t::lever_rate, cajun::object_info_t::m_controller, cajun::object_info_t::m_dyn_sim_data, cajun::object_info_t::m_lane_id, cajun::object_info_t::m_mesh_object, cajun::object_info_t::m_num_sensors, cajun::object_info_t::m_object, cajun::object_info_t::m_object_id, cajun::object_info_t::m_orient_x, cajun::object_info_t::m_orient_y, cajun::object_info_t::m_orient_z, cajun::object_info_t::m_pos_x, cajun::object_info_t::m_pos_y, cajun::object_info_t::m_pos_z, m_rndf, cajun::object_info_t::m_segment_id, cajun::object_info_t::m_sensor, cajun::object_info_t::m_shape, cajun::object_info_t::m_size_x, cajun::object_info_t::m_size_y, cajun::object_info_t::m_size_z, cajun::object_info_t::m_waypoint_data, cajun::object_info_t::m_wp_id, cajun::MESH, cajun::waypoint_data_t::num_goals, cajun::rndf_goal_t::pause, progname, cajun::rndf_goal_t::segment, cajun::sensor_object_t::sensor, cajun::SENSOR, cajun::sensor_object_t::sensor_filename, cajun::rndf_goal_t::sog, cajun::STATIC, cajun::dyn_sim_object_t::throttle_rate, cajun::mesh_object_info_t::vertices_file, cajun::mesh_object_info_t::vertices_file_is_full_path, cajun::rndf_goal_t::waypoint, cajun::WAYPOINT, cajun::waypoint_data_t::waypoint_goals, cajun::dyn_sim_object_t::wheel, cajun::dyn_sim_object_t::wheel_height, and cajun::dyn_sim_object_t::wheel_width.

Referenced by read_object_file().

void sim_world_t::remove_collision_joints

(

)

[private]

References m_contact_group.

Referenced by start_world().

void sim_world_t::start_world

(

)

References check_collisions(), DELAY_ODE_UPDATE, get_avg_step_time(), m_access_data, m_current_time, m_no_sleep, m_objects, m_play_value, m_playback_control_data, m_prev_time, m_publish_objects, m_publish_points, m_sim_time, m_sleep_time, m_step_hist, m_step_hist_counter, m_world_body, obstacle_data_list, obstacle_point_list, remove_collision_joints(), and STEP_HIST_SIZE.

Referenced by main().

---

Member Data Documentation

access_data_t* cajun::sim_world_t::m_access_data [private]

Referenced by add_object(), sim_world_t(), and start_world().

dJointGroupID sim_world_t::m_contact_group [static, private]

Referenced by collision_callback(), remove_collision_joints(), and sim_world_t().

double cajun::sim_world_t::m_current_time [private]

Referenced by sim_world_t(), and start_world().

dGeomID cajun::sim_world_t::m_ground [private]

Referenced by add_object(), and sim_world_t().

char const* cajun::sim_world_t::m_lane_dir [private]

Referenced by add_object(), and sim_world_t().

bool cajun::sim_world_t::m_no_sleep [private]

Referenced by sim_world_t(), and start_world().

char const* cajun::sim_world_t::m_object_file [private]

Referenced by sim_world_t().

std::vector<sim_world_object_t *> cajun::sim_world_t::m_objects [private]

Referenced by add_object(), and start_world().

double cajun::sim_world_t::m_play_value [private]

Referenced by sim_world_t(), and start_world().

playback_control_data_t cajun::sim_world_t::m_playback_control_data [private]

Referenced by start_world().

double cajun::sim_world_t::m_prev_time [private]

Referenced by sim_world_t(), and start_world().

bool cajun::sim_world_t::m_publish_objects [private]

Referenced by sim_world_t(), and start_world().

bool cajun::sim_world_t::m_publish_points [private]

Referenced by sim_world_t(), and start_world().

rndf_t* cajun::sim_world_t::m_rndf [private]

Referenced by add_object(), read_object_file_v2(), and sim_world_t().

rndf_tool_t* cajun::sim_world_t::m_rndf_tool [private]

Referenced by add_object(), and sim_world_t().

sim_world_object_t* cajun::sim_world_t::m_sim_object [private]

Referenced by add_object(), sim_world_t(), and ~sim_world_t().

sim_time_data_t cajun::sim_world_t::m_sim_time [private]

Referenced by sim_world_t(), and start_world().

unsigned cajun::sim_world_t::m_sleep_time [private]

Referenced by sim_world_t(), and start_world().

double cajun::sim_world_t::m_step_hist[STEP_HIST_SIZE] [private]

Referenced by get_avg_step_time(), sim_world_t(), and start_world().

unsigned cajun::sim_world_t::m_step_hist_counter [private]

Referenced by sim_world_t(), and start_world().

double cajun::sim_world_t::m_step_increment [private]

Referenced by sim_world_t().

dWorldID sim_world_t::m_world_body [static, private]

Referenced by add_object(), collision_callback(), sim_world_t(), and start_world().

dSpaceID cajun::sim_world_t::m_world_space [private]

Referenced by add_object(), check_collisions(), and sim_world_t().

std::vector<obstacle_data_t>* cajun::sim_world_t::obstacle_data_list [private]

Referenced by start_world().

std::vector<obstacle_points_data_t>* cajun::sim_world_t::obstacle_point_list [private]

Referenced by start_world().

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

• sim_world.H
• sim_world.C