#include <OccupancyGridMap.h>
Inheritance diagram for mvsim::OccupancyGridMap:
Collaboration diagram for mvsim::OccupancyGridMap:
Classes | |
| struct | TFixturePtr |
| struct | TInfoPerCollidableobj |
Public Member Functions | |
| OccupancyGridMap (World *parent, const rapidxml::xml_node< char > *root) | |
| void | doLoadConfigFrom (const rapidxml::xml_node< char > *root) |
| virtual void | loadConfigFrom (const rapidxml::xml_node< char > *root) override |
| virtual void | simul_pre_timestep (const TSimulContext &context) override |
| const mrpt::maps::COccupancyGridMap2D & | getOccGrid () const |
| mrpt::maps::COccupancyGridMap2D & | getOccGrid () |
 Public Member Functions inherited from mvsim::WorldElementBase | |
| WorldElementBase (World *parent) | |
| WorldElementBase (const WorldElementBase &)=delete | |
| WorldElementBase (WorldElementBase &&)=delete | |
| WorldElementBase & | operator= (const WorldElementBase &)=delete |
| WorldElementBase & | operator= (WorldElementBase &&)=delete |
| virtual std::optional< std::any > | queryProperty ([[maybe_unused]] const std::string &propertyName, [[maybe_unused]] const mrpt::math::TPoint3D &worldXYZ) const |
| Public Member Functions inherited from mvsim::VisualObject | |
| VisualObject (World *parent, bool insertCustomVizIntoViz=true, bool insertCustomVizIntoPhysical=true) | |
| VisualObject (const VisualObject &)=delete | |
| VisualObject & | operator= (const VisualObject &)=delete |
| VisualObject (VisualObject &&)=delete | |
| VisualObject & | operator= (VisualObject &&)=delete |
| virtual void | guiUpdate (const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &viz, const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &physical) |
| World * | parent () |
| const World * | parent () const |
| void | customVisualVisible (const bool visible) |
| bool | customVisualVisible () const |
| const std::optional< Shape2p5 > & | collisionShape () const |
| void | showCollisionShape (bool show) |
| Public Member Functions inherited from mvsim::Simulable | |
| Simulable (World *parent) | |
| virtual void | simul_post_timestep (const TSimulContext &context) |
| virtual void | apply_force (const mrpt::math::TVector2D &force, const mrpt::math::TPoint2D &applyPoint=mrpt::math::TPoint2D(0, 0)) |
| virtual VisualObject * | meAsVisualObject () |
| mrpt::math::TTwist2D | getRefVelocityLocal () const |
| mrpt::math::TTwist2D | getVelocityLocal () const |
| mrpt::math::TTwist2D | getRefVelocityGlobal () const |
| mrpt::math::TTwist2D | getComVelocityGlobal () const |
| mrpt::math::TPose3D | getPose () const |
| virtual mrpt::math::TPose3D | getRelativePose () const |
| mrpt::math::TPose3D | getPoseNoLock () const |
| No thread-safe version. Used internally only. | |
| mrpt::math::TVector3D | getLinearAcceleration () const |
| void | setPose (const mrpt::math::TPose3D &p, bool notifyChange=true) const |
| virtual void | setRelativePose (const mrpt::math::TPose3D &p) |
| void | setRefVelocityLocal (const mrpt::math::TTwist2D &dq) |
| mrpt::poses::CPose2D | getCPose2D () const |
| Alternative to getPose() | |
| mrpt::poses::CPose3D | getCPose3D () const |
| Alternative to getPose() | |
| const std::string & | getName () const |
| void | setName (const std::string &s) |
| bool | isInCollision () const |
| bool | hadCollision () const |
| void | resetCollisionFlag () |
| virtual void | registerOnServer (mvsim::Client &c) |
| const b2Body * | b2d_body () const |
| b2Body * | b2d_body () |
| World * | getSimulableWorldObject () |
| const World * | getSimulableWorldObject () const |
| virtual void | freeOpenGLResources () |
| virtual std::optional< float > | getElevationAt ([[maybe_unused]] const mrpt::math::TPoint2D &worldXY) const |
Protected Member Functions | |
| virtual void | internalGuiUpdate (const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &viz, const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &physical, bool childrenOnly) override |
| Protected Member Functions inherited from mvsim::VisualObject | |
| bool | parseVisual (const rapidxml::xml_node< char > &rootNode) |
Returns true if there is at least one <visual>...</visual> entry. | |
| bool | parseVisual (const JointXMLnode<> &rootNode) |
| void | addCustomVisualization (const mrpt::opengl::CRenderizable::Ptr &glModel, const mrpt::poses::CPose3D &modelPose={}, const float modelScale=1.0f, const std::string &modelName="group", const std::optional< std::string > &modelURI=std::nullopt, const bool initialShowBoundingBox=false, const std::optional< double > &scaleOverride=std::nullopt) |
| void | setCollisionShape (const Shape2p5 &cs) |
Protected Attributes | |
| mrpt::maps::COccupancyGridMap2D | grid_ |
| bool | gui_uptodate_ |
| mrpt::opengl::CSetOfObjects::Ptr | gl_grid_ |
| std::vector< TInfoPerCollidableobj > | obstacles_for_each_obj_ |
| std::vector< mrpt::opengl::CSetOfObjects::Ptr > | gl_obs_clouds_ |
| std::mutex | gl_obs_clouds_buffer_cs_ |
| std::vector< mrpt::opengl::CPointCloud::Ptr > | gl_obs_clouds_buffer_ |
| mrpt::obs::CSinCosLookUpTableFor2DScans | sincos_lut_ |
| bool | show_grid_collision_points_ |
| double | restitution_ |
| Elastic restitution coef (default: 0.01) | |
| double | lateral_friction_ |
| (Default: 0.5) | |
| Protected Attributes inherited from mvsim::VisualObject | |
| World * | world_ |
| std::shared_ptr< mrpt::opengl::CSetOfObjects > | glCustomVisual_ |
| std::shared_ptr< mrpt::opengl::CSetOfObjects > | glCollision_ |
| int32_t | glCustomVisualId_ = -1 |
| const bool | insertCustomVizIntoViz_ = true |
| const bool | insertCustomVizIntoPhysical_ = true |
| Protected Attributes inherited from mvsim::Simulable | |
| std::string | name_ |
Additional Inherited Members | |
| Public Types inherited from mvsim::WorldElementBase | |
| using | Ptr = std::shared_ptr< WorldElementBase > |
| Public Types inherited from mvsim::Simulable | |
| using | Ptr = std::shared_ptr< Simulable > |
| Static Public Member Functions inherited from mvsim::WorldElementBase | |
| static Ptr | factory (World *parent, const rapidxml::xml_node< char > *xml_node, const char *class_name=nullptr) |
| Static Public Member Functions inherited from mvsim::VisualObject | |
| static void | FreeOpenGLResources () |
| Static Public Attributes inherited from mvsim::VisualObject | |
| static double | GeometryEpsilon |
Detailed Description
Simulates a 2D gridmap, including collisions with occupied voxels.
Member Function Documentation
◆ simul_pre_timestep()
|
overridevirtual |
Process right before the integration of dynamic equations for each timestep: set action forces from motors, update friction models, etc.
Reimplemented from mvsim::Simulable.
Member Data Documentation
◆ gui_uptodate_
|
protected |
Whether gl_grid_ has to be updated upon next call of internalGuiUpdate()
The documentation for this class was generated from the following file:
- /home/docs/checkouts/readthedocs.org/user_builds/mvsimulator/checkouts/stable/modules/simulator/include/mvsim/WorldElements/OccupancyGridMap.h
