#include <World.h>

Inheritance diagram for mvsim::World:

Collaboration diagram for mvsim::World:

Classes
struct	GeoreferenceOptions

struct	GUIKeyEvent

struct	TUpdateGUIParams

Public Types
Public types
using	VehicleList = std::multimap< std::string, VehicleBase::Ptr >

using	WorldElementList = std::list< WorldElementBase::Ptr >

using	BlockList = std::multimap< std::string, Block::Ptr >

using	SimulableList = std::multimap< std::string, Simulable::Ptr >

using	ActorList = std::multimap< std::string, HumanActor::Ptr >

Public Member Functions
void	connectToServer ()

mvsim::Client &	commsClient ()

const mvsim::Client &	commsClient () const

void	free_opengl_resources ()

auto &	physical_objects_mtx ()

bool	headless () const

void	headless (bool setHeadless)

bool	sensor_has_to_create_egl_context ()

const std::map< std::string, std::string > &	user_defined_variables () const

std::optional< mvsim::TJoyStickEvent >	getJoystickState () const

bool	evaluate_tag_if (const rapidxml::xml_node< char > &node) const

float	collisionThreshold () const

std::set< float >	getElevationsAt (const mrpt::math::TPoint2D &worldXY) const

float	getHighestElevationUnder (const mrpt::math::TPoint3Df &queryPt) const

void	internal_simul_pre_step_terrain_elevation ()

std::optional< std::any >	getPropertyAt (const std::string &propertyName, const mrpt::math::TPoint3D &worldXYZ) const

const GeoreferenceOptions &	georeferenceOptions () const

mrpt::math::TVector3D	worldRenderOffset () const
	(See docs for worldRenderOffset_)

mrpt::math::TPose3D	applyWorldRenderOffset (mrpt::math::TPose3D p) const

mrpt::poses::CPose3D	applyWorldRenderOffset (mrpt::poses::CPose3D p) const

void	worldRenderOffsetPropose (const mrpt::math::TVector3D &v)
	(See docs for worldRenderOffset_)

Initialization, simulation set-up
	World ()
	Default ctor: inits an empty world.

	~World ()
	Dtor.

	World (const World &)=delete

World &	operator= (const World &)=delete

	World (World &&)=delete

World &	operator= (World &&)=delete

void	clear_all ()

void	load_from_XML_file (const std::string &xmlFileNamePath)

void	internal_initialize ()

void	load_from_XML (const std::string &xml_text, const std::string &fileNameForPath=std::string("."))

Access inner working objects
std::unique_ptr< b2World > &	getBox2DWorld ()

const std::unique_ptr< b2World > &	getBox2DWorld () const

b2Body *	getBox2DGroundBody ()

const VehicleList &	getListOfVehicles () const

VehicleList &	getListOfVehicles ()

const BlockList &	getListOfBlocks () const

BlockList &	getListOfBlocks ()

const WorldElementList &	getListOfWorldElements () const

const std::vector< WorldJoint > &	getListOfJoints () const

const ActorList &	getListOfActors () const

ActorList &	getListOfActors ()

SimulableList &	getListOfSimulableObjects ()
	Always lock/unlock getListOfSimulableObjectsMtx() before using this:

const SimulableList &	getListOfSimulableObjects () const

auto &	getListOfSimulableObjectsMtx ()

mrpt::system::CTimeLogger &	getTimeLogger ()

std::string	local_to_abs_path (const std::string &in_path) const

std::string	xmlPathToActualPath (const std::string &modelURI) const

Friends
class	VehicleBase

class	Block

Visitors API
using	vehicle_visitor_t = std::function< void(VehicleBase &)>

using	world_element_visitor_t = std::function< void(WorldElementBase &)>

using	block_visitor_t = std::function< void(Block &)>

void	runVisitorOnVehicles (const vehicle_visitor_t &v)

void	runVisitorOnWorldElements (const world_element_visitor_t &v)

void	runVisitorOnBlocks (const block_visitor_t &v)

Optional user hooks
using	on_observation_callback_t = std::function< void(const Simulable &, const mrpt::obs::CObservation::Ptr &)>

void	registerCallbackOnObservation (const on_observation_callback_t &f)

void	dispatchOnObservation (const Simulable &veh, const mrpt::obs::CObservation::Ptr &obs)

Simulation execution
mrpt::opengl::CSetOfObjects::Ptr	guiUserObjectsPhysical_

mrpt::opengl::CSetOfObjects::Ptr	guiUserObjectsViz_

std::mutex	guiUserObjectsMtx_

std::mutex	pendingRunSensorsOn3DSceneMtx_

bool	pendingRunSensorsOn3DScene_ = false

std::string	guiMsgLines_

std::mutex	guiMsgLinesMtx_

std::thread	gui_thread_

std::atomic_bool	gui_thread_running_ = false

std::atomic_bool	simulator_must_close_ = false

std::mutex	gui_thread_start_mtx_

std::vector< std::function< void(void)> >	guiUserPendingTasks_

std::mutex	guiUserPendingTasksMtx_

GUIKeyEvent	lastKeyEvent_

std::atomic_bool	lastKeyEventValid_ = false

std::mutex	lastKeyEventMtx_

double	get_simul_time () const

void	force_set_simul_time (double newSimulatedTime)
	Normally should not be called by users, for internal use only.

mrpt::Clock::time_point	get_simul_timestamp () const

double	get_simul_timestep () const
	Simulation fixed-time interval for numerical integration.

void	set_simul_timestep (double timestep)

double	get_gravity () const

void	set_gravity (double accel)

void	run_simulation (double dt)

void	insert_vehicle (const VehicleBase::Ptr &veh)

void	update_GUI (TUpdateGUIParams *params=nullptr)

const mrpt::gui::CDisplayWindowGUI::Ptr &	gui_window () const

const mrpt::math::TPoint3D &	gui_mouse_point () const

void	internalGraphicsLoopTasksForSimulation ()

void	internalRunSensorsOn3DScene (mrpt::opengl::COpenGLScene &physicalObjects)

void	internalUpdate3DSceneObjects (mrpt::opengl::COpenGLScene &viz, mrpt::opengl::COpenGLScene &physical)

void	internal_GUI_thread ()

void	internal_process_pending_gui_user_tasks ()

void	mark_as_pending_running_sensors_on_3D_scene ()

void	clear_pending_running_sensors_on_3D_scene ()

bool	pending_running_sensors_on_3D_scene ()

bool	simulator_must_close () const

void	simulator_must_close (bool value)

void	enqueue_task_to_run_in_gui_thread (const std::function< void(void)> &f)

bool	is_GUI_open () const

void	close_GUI ()
	Forces closing the GUI window, if any.

Detailed Description

Simulation happens inside a World object. This is the central class for usage from user code, running the simulation, loading XML models, managing GUI visualization, etc. The ROS node acts as a bridge between this class and the ROS subsystem.

See: https://mvsimulator.readthedocs.io/en/latest/world.html

Member Typedef Documentation

◆ ActorList

using mvsim::World::ActorList = std::multimap<std::string, HumanActor::Ptr>

Map 'actor-name' => actor object. See getListOfActors()

◆ BlockList

using mvsim::World::BlockList = std::multimap<std::string, Block::Ptr>

Map 'block-name' => block object. See getListOfBlocks()

◆ SimulableList

using mvsim::World::SimulableList = std::multimap<std::string, Simulable::Ptr>

For convenience, all elements (vehicles, world elements, blocks) are also stored here for each look-up by name

◆ VehicleList

using mvsim::World::VehicleList = std::multimap<std::string, VehicleBase::Ptr>

Map 'vehicle-name' => vehicle object. See getListOfVehicles()

◆ WorldElementList

using mvsim::World::WorldElementList = std::list<WorldElementBase::Ptr>

See getListOfWorldElements()

Member Function Documentation

◆ clear_all()

void mvsim::World::clear_all ( )

Resets the entire simulation environment to an empty world.

◆ connectToServer()

void mvsim::World::connectToServer ( )

Connect to server, advertise topics and services, etc. per the world description loaded from XML file.

◆ dispatchOnObservation()

void mvsim::World::dispatchOnObservation	(	const Simulable &	veh,
		const mrpt::obs::CObservation::Ptr &	obs
	)

Calls all registered callbacks:

◆ get_gravity()

double mvsim::World::get_gravity ( ) const

inline

Gravity acceleration (Default=9.8 m/s^2). Used to evaluate weights for friction, etc.

◆ get_simul_time()

double mvsim::World::get_simul_time ( ) const

inline

Seconds since start of simulation.

See also: get_simul_timestamp()

◆ get_simul_timestamp()

mrpt::Clock::time_point mvsim::World::get_simul_timestamp ( ) const

inline

Get the current simulation full timestamp, computed as the real wall clock timestamp at the beginning of the simulation, plus the number of seconds simulation has run.

See also: get_simul_time()

◆ getElevationsAt()

std::set<float> mvsim::World::getElevationsAt ( const mrpt::math::TPoint2D & worldXY ) const

Returns the list of "z" coordinate or "elevations" for all simulable objects at a given world-frame 2D coordinates (x,y). If no object reports any height, the value "0.0" will be always reported by default. In multistorey worlds, for example, this will return the height of each floor for the queried point.

◆ getHighestElevationUnder()

float mvsim::World::getHighestElevationUnder ( const mrpt::math::TPoint3Df & queryPt ) const

with query points the center of a wheel, this returns the highest "ground" under it, or .0 if nothing found.

◆ getJoystickState()

std::optional<mvsim::TJoyStickEvent> mvsim::World::getJoystickState ( ) const

If joystick usage is enabled (via XML file option, for example), this will read the joystick state and return it. Otherwise (or on device error or disconnection), a null optional variable is returned.

◆ getPropertyAt()

std::optional<std::any> mvsim::World::getPropertyAt	(	const std::string &	propertyName,
		const mrpt::math::TPoint3D &	worldXYZ
	)		const

Query all mvsim::WorldElementBase objects for a given custom property at the specific 3D location. It returns nullopt if no object defines this property.

See also: WorldElementBase::queryProperty()

◆ internalGraphicsLoopTasksForSimulation()

void mvsim::World::internalGraphicsLoopTasksForSimulation ( )

Update 3D vehicles, sensors, run render-based sensors, etc: Called from World_gui thread in normal mode, or mvsim-cli in headless mode.

◆ is_GUI_open()

bool mvsim::World::is_GUI_open ( ) const

Return true if the GUI window is open, after a previous call to update_GUI()

◆ load_from_XML()

void mvsim::World::load_from_XML	(	const std::string &	xml_text,
		const std::string &	fileNameForPath = `std::string(".")`
	)

Load an entire world description into this object from a specification in XML format.

Parameters

[in] fileNameForPath Optionally, provide the full path to an XML file from which to take relative paths.

Exceptions

std::exception On any error, with what() giving a descriptive error message

◆ load_from_XML_file()

void mvsim::World::load_from_XML_file ( const std::string & xmlFileNamePath )

Load an entire world description into this object from a specification in XML format.

Parameters

[in] xmlFileNamePath The relative or full path to the XML file.

Exceptions

std::exception On any error, with what() giving a descriptive error message

◆ local_to_abs_path()

std::string mvsim::World::local_to_abs_path ( const std::string & in_path ) const

Replace macros, prefix the base_path if input filename is relative, etc.

See also: xmlPathToActualPath

◆ run_simulation()

void mvsim::World::run_simulation ( double dt )

Runs the simulation for a given time interval (in seconds)

Note: The minimum simulation time is the timestep set (e.g. via set_simul_timestep()), even if time advanced further than the provided "dt".

◆ runVisitorOnBlocks()

void mvsim::World::runVisitorOnBlocks ( const block_visitor_t & v )

Run the user-provided visitor on each world block

◆ runVisitorOnVehicles()

void mvsim::World::runVisitorOnVehicles ( const vehicle_visitor_t & v )

Run the user-provided visitor on each vehicle

◆ runVisitorOnWorldElements()

void mvsim::World::runVisitorOnWorldElements ( const world_element_visitor_t & v )

Run the user-provided visitor on each world element

◆ set_gravity()

void mvsim::World::set_gravity ( double accel )

inline

Gravity acceleration (Default=9.8 m/s^2). Used to evaluate weights for friction, etc.

◆ set_simul_timestep()

void mvsim::World::set_simul_timestep ( double timestep )

inline

Simulation fixed-time interval for numerical integration 0 means auto-determine as the minimum of 50 ms and the shortest sensor sample period.

◆ update_GUI()

void mvsim::World::update_GUI ( TUpdateGUIParams * params = nullptr )

Updates (or sets-up upon first call) the GUI visualization of the scene.

Parameters

[in,out] params Optional inputs/outputs to the GUI update process. See struct for details.

Note: This method is prepared to be called concurrently with the simulation, and doing so is recommended to assure a smooth multi-threading simulation.

◆ xmlPathToActualPath()

std::string mvsim::World::xmlPathToActualPath ( const std::string & modelURI ) const

Parses URIs in all the forms explained in RemoteResourcesManager::resolve_path(), then passes it through local_to_abs_path().

See also: local_to_abs_path

Member Data Documentation

◆ guiUserObjectsPhysical_

mrpt::opengl::CSetOfObjects::Ptr mvsim::World::guiUserObjectsPhysical_

If !=null, a set of objects to be rendered merged with the default visualization. Lock the mutex gui_user_objects_mtx_ while writing. There are two sets of objects: "viz" for visualization only, "physical" for objects which should be detected by sensors.

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/World.h

Classes

Public Types

Public Member Functions

Friends

Visitors API

Optional user hooks

Simulation execution

Detailed Description

Member Typedef Documentation

◆ ActorList

◆ BlockList

◆ SimulableList

◆ VehicleList

◆ WorldElementList

Member Function Documentation

◆ clear_all()

◆ connectToServer()

◆ dispatchOnObservation()

◆ get_gravity()

◆ get_simul_time()

◆ get_simul_timestamp()

◆ getElevationsAt()

◆ getHighestElevationUnder()

◆ getJoystickState()

◆ getPropertyAt()

◆ internalGraphicsLoopTasksForSimulation()

◆ is_GUI_open()

◆ load_from_XML()

◆ load_from_XML_file()

◆ local_to_abs_path()

◆ run_simulation()

◆ runVisitorOnBlocks()

◆ runVisitorOnVehicles()

◆ runVisitorOnWorldElements()

◆ set_gravity()

◆ set_simul_timestep()

◆ update_GUI()

◆ xmlPathToActualPath()

Member Data Documentation

◆ guiUserObjectsPhysical_