#include <Simulable.h>

Inheritance diagram for mvsim::Simulable:

[legend]

Public Types
using	Ptr = std::shared_ptr< Simulable >

Public Member Functions
	Simulable (World *parent)

virtual void	simul_pre_timestep (const TSimulContext &context)

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 Attributes
std::string	name_

Detailed Description

The basic virtual base class for all objects that can run in the simulated mvsim::World

Member Function Documentation

◆ apply_force()

virtual void mvsim::Simulable::apply_force	(	const mrpt::math::TVector2D &	force,
		const mrpt::math::TPoint2D &	applyPoint = `mrpt::math::TPoint2D(0, 0)`
	)

virtual

Override to register external forces exerted by other WorldElements. Force is (fx,fy) in global coordinates. Application point is (local_ptx,local_pty) in the body local frame

Reimplemented in mvsim::VehicleBase, mvsim::HumanActor, and mvsim::Block.

◆ getComVelocityGlobal()

mrpt::math::TTwist2D mvsim::Simulable::getComVelocityGlobal ( ) const

Last time-step velocity of the Box2D center of mass point, in global coords

◆ getElevationAt()

virtual std::optional<float> mvsim::Simulable::getElevationAt ( [[maybe_unused] ] const mrpt::math::TPoint2D & worldXY ) const

inlinevirtual

If the given world-frame 2D coordinates are within the limits of this entity, this method returns the ground height or elevation or "z" coordinate of the object for the queried (x,y). If the coordinates do not affect this object, it will return nullopt.

◆ getLinearAcceleration()

mrpt::math::TVector3D mvsim::Simulable::getLinearAcceleration ( ) const

Last time-step acceleration of the ref. point (global coords). Note this is the "coordinate acceleration" vector, not the proper acceleration. It is simply estimated as a finite difference of dq_.

◆ getName()

const std::string& mvsim::Simulable::getName ( ) const

inline

User-supplied name of the vehicle (e.g. "r1", "veh1")

◆ getPose()

mrpt::math::TPose3D mvsim::Simulable::getPose ( ) const

Last time-step pose (of the ref. point, in global coords) (ground-truth)

◆ getRefVelocityGlobal()

mrpt::math::TTwist2D mvsim::Simulable::getRefVelocityGlobal ( ) const

Last time-step velocity (of the reference point, in global coords) Note this is converted from Box2D center of mass velocity into our own reference point.

◆ getRefVelocityLocal()

mrpt::math::TTwist2D mvsim::Simulable::getRefVelocityLocal ( ) const

Last time-step velocity (of the reference point, in local coords) Note this is converted from Box2D center of mass velocity into our own reference point.

◆ getRelativePose()

virtual mrpt::math::TPose3D mvsim::Simulable::getRelativePose ( ) const

inlinevirtual

Like getPose(), but gets the relative pose with respect to the parent object, or just exactly like getPose() (global pose) if this is a top-level entity.

Reimplemented in mvsim::Lidar3D, mvsim::LaserScanner, mvsim::IMU, mvsim::GNSS, mvsim::DepthCameraSensor, and mvsim::CameraSensor.

◆ getVelocityLocal()

mrpt::math::TTwist2D mvsim::Simulable::getVelocityLocal ( ) const

inline

Deprecated: replace with getRefVelocityLocal()

◆ hadCollision()

bool mvsim::Simulable::hadCollision ( ) const

Whether a collision occurred since the last time this flag was manually reset.

See also: isInCollision(), resetCollisionFlag()

◆ isInCollision()

bool mvsim::Simulable::isInCollision ( ) const

Whether is is in collision right now.

See also

◆ resetCollisionFlag()

void mvsim::Simulable::resetCollisionFlag ( )

Resets the condition reported by hadCollision() to false

◆ setName()

void mvsim::Simulable::setName ( const std::string & s )

inline

Changes object name (e.g. "r1", "veh1")

◆ setPose()

void mvsim::Simulable::setPose	(	const mrpt::math::TPose3D &	p,
		bool	notifyChange = `true`
	)		const

Manually override vehicle pose (Use with caution!) (purposely set a "const")

◆ setRefVelocityLocal()

void mvsim::Simulable::setRefVelocityLocal ( const mrpt::math::TTwist2D & dq )

Set the body twist in the local, body frame. The linear velocity corresponds to the object local origin. It is then internally converted into the velocity of the Box2D center of mass, in global coordinates as expected by Box2D.

◆ setRelativePose()

virtual void mvsim::Simulable::setRelativePose ( const mrpt::math::TPose3D & p )

inlinevirtual

Changes the relative pose of this object with respect to its parent, or the global frame if its a top-level entity.

Reimplemented in mvsim::Lidar3D, mvsim::LaserScanner, mvsim::IMU, mvsim::GNSS, mvsim::DepthCameraSensor, and mvsim::CameraSensor.

◆ simul_post_timestep()

virtual void mvsim::Simulable::simul_post_timestep ( const TSimulContext & context )

virtual

Override to do any required process right after the integration of dynamic equations for each timestep. IMPORTANT: Reimplementations MUST also call this base method, since it is in charge of important tasks (e.g. update q_, dq_)

Reimplemented in mvsim::VerticalPlane, mvsim::HorizontalPlane, mvsim::ElevationMap, mvsim::VehicleBase, mvsim::Lidar3D, mvsim::LaserScanner, mvsim::IMU, mvsim::GNSS, mvsim::DepthCameraSensor, mvsim::CameraSensor, mvsim::HumanActor, mvsim::DummyInvisibleBlock, mvsim::Block, and mvsim::PropertyRegion.

◆ simul_pre_timestep()

virtual void mvsim::Simulable::simul_pre_timestep ( const TSimulContext & context )

virtual

Process right before the integration of dynamic equations for each timestep: set action forces from motors, update friction models, etc.

Reimplemented in mvsim::VerticalPlane, mvsim::PointCloud, mvsim::OccupancyGridMap, mvsim::HorizontalPlane, mvsim::ElevationMap, mvsim::VehicleBase, mvsim::Lidar3D, mvsim::LaserScanner, mvsim::IMU, mvsim::GNSS, mvsim::DepthCameraSensor, mvsim::CameraSensor, mvsim::HumanActor, mvsim::DummyInvisibleBlock, mvsim::Block, and mvsim::PropertyRegion.

Member Data Documentation

◆ name_

std::string mvsim::Simulable::name_

protected

User-supplied name of the vehicle (e.g. "r1", "veh1")

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/Simulable.h

Public Types

Public Member Functions

Protected Attributes

Detailed Description

Member Function Documentation

◆ apply_force()

◆ getComVelocityGlobal()

◆ getElevationAt()

◆ getLinearAcceleration()

◆ getName()

◆ getPose()

◆ getRefVelocityGlobal()

◆ getRefVelocityLocal()

◆ getRelativePose()

◆ getVelocityLocal()

◆ hadCollision()

◆ isInCollision()

◆ resetCollisionFlag()

◆ setName()

◆ setPose()

◆ setRefVelocityLocal()

◆ setRelativePose()

◆ simul_post_timestep()

◆ simul_pre_timestep()

Member Data Documentation

◆ name_