Robotsystem of the Robot Group Leipzig: Simulation Class Reference

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# Simulation Class Reference

`#include <simulation.h>`

Inherits Base.

Inheritance diagram for Simulation:

[legend]
Collaboration diagram for Simulation:

[legend]
List of all members.

## Public Types
| none
| initialised
| running
| closed
enum | SimulationState { none, initialised, running, closed }
## Public Member Functions
| Simulation ()
virtual | ~Simulation ()
bool | run (int argc, char **argv)
| starts the Simulation.
virtual void | start (const OdeHandle &, const OsgHandle &, GlobalData &globalData)=0
| start() is called at the start and should create all the object (obstacles, agents...).
virtual void | end (GlobalData &globalData)
| end() is called at the end and should tidy up
virtual void | config (GlobalData &globalData)
| config() is called when the user presses Ctrl-C
virtual bool | command (const OdeHandle &, const OsgHandle &, GlobalData &globalData, int key, bool down)
| is called if a key was pressed.
virtual void | bindingDescription (osg::ApplicationUsage &au) const
| this can be used to describe the key bindings used by command()
virtual bool | collCallback (const OdeHandle &, void *data, dGeomID o1, dGeomID o2)
| collCallback() can be used to overload the standart collision handling.
virtual void | addCallback (GlobalData &globalData, bool draw, bool pause)
| addCallback() optional additional callback function.
virtual void | operator() (const Producer::Camera &)
## Protected Member Functions
virtual bool | handle (const osgGA::GUIEventAdapter &ea, osgGA::GUIActionAdapter &)
virtual void | getUsage (osg::ApplicationUsage &au) const
virtual void | accept (osgGA::GUIEventHandlerVisitor &v)
virtual bool | init (int argc, char **argv)
void | setCameraHomePos (const osg::Vec3 &eye, const osg::Vec3 &view)
| define the home position and view orientation of the camera.
bool | control_c_pressed ()
## Static Protected Member Functions
static void | nearCallback (void *data, dGeomID o1, dGeomID o2)
## Protected Attributes
std::list< PlotOption > | plotoptions
GlobalData | globalData
VideoStream | videostream
int | nextLeakAnnounce
int | leakAnnCounter
long | realtimeoffset
long | simtimeoffset
int | windowWidth
int | windowHeight
bool | pause
bool | useShadow
bool | simulation_time_reached
long int | simulation_time
long | sim_step
int | guiloggerinterval
int | filelogginginterval
int | neuronvizinterval

## Member Enumeration Documentation

enum SimulationState

Enumerator:

  none |
  initialised |
  running |
  closed |

## Constructor & Destructor Documentation

Simulation | ( |  | ) |

~Simulation | ( |  | ) | `[virtual]`

## Member Function Documentation

void accept | ( | osgGA::GUIEventHandlerVisitor & | v | ) | `[protected, virtual]`

virtual void addCallback | ( | GlobalData & | globalData,
|  | bool | draw,
|  | bool | pause |
| ) |  |  | `[inline, virtual]`

addCallback() optional additional callback function.

virtual void bindingDescription | ( | osg::ApplicationUsage & | au | ) | const`[inline, virtual]`

this can be used to describe the key bindings used by command()

virtual bool collCallback | ( | const OdeHandle & | ,
|  | void * | data,
|  | dGeomID | o1,
|  | dGeomID | o2 |
| ) |  |  | `[inline, virtual]`

collCallback() can be used to overload the standart collision handling.

However it is called after the robots collision handling.

Returns:
  true if collision is treated, false otherwise

virtual bool command | ( | const OdeHandle & | ,
|  | const OsgHandle & | ,
|  | GlobalData & | globalData,
|  | int | key,
|  | bool | down |
| ) |  |  | `[inline, virtual]`

is called if a key was pressed.

For keycodes see: osgGA::GUIEventAdapter

Returns:
  true if the key was handled

void config | ( | GlobalData & | globalData | ) | `[virtual]`

config() is called when the user presses Ctrl-C

bool control_c_pressed | ( |  | ) | `[protected]`

void end | ( | GlobalData & | globalData | ) | `[virtual]`

end() is called at the end and should tidy up

void getUsage | ( | osg::ApplicationUsage & | au | ) | const`[protected, virtual]`

bool handle | ( | const osgGA::GUIEventAdapter & | ea,
|  | osgGA::GUIActionAdapter & |  |
| ) |  |  | `[protected, virtual]`

bool init | ( | int | argc,
|  | char ** | argv |
| ) |  |  | `[protected, virtual]`

void nearCallback | ( | void * | data,
|  | dGeomID | o1,
|  | dGeomID | o2 |
| ) |  |  | `[static, protected]`

void operator() | ( | const Producer::Camera & |  | ) | `[virtual]`

bool run | ( | int | argc,
|  | char ** | argv |
| ) |  |  |

starts the Simulation.

Do not overload it. This function returns of the simulation is terminated.

Returns:
  : true if closed regulary, false on error

void setCameraHomePos | ( | const osg::Vec3 & | eye,
|  | const osg::Vec3 & | view |
| ) |  |  | `[protected]`

define the home position and view orientation of the camera.

view.x is the heading angle in degree. view.y is the tilt angle in degree (nick), view.z is ignored

virtual void start | ( | const OdeHandle & | ,
|  | const OsgHandle & | ,
|  | GlobalData & | globalData |
| ) |  |  | `[pure virtual]`

start() is called at the start and should create all the object (obstacles, agents...).

## Member Data Documentation

int filelogginginterval`[protected]`

GlobalData globalData`[protected]`

int guiloggerinterval`[protected]`

int leakAnnCounter`[protected]`

int neuronvizinterval`[protected]`

int nextLeakAnnounce`[protected]`

bool pause`[protected]`

std::list<PlotOption> plotoptions`[protected]`

long realtimeoffset`[protected]`

long sim_step`[protected]`

long simtimeoffset`[protected]`

long int simulation_time`[protected]`

bool simulation_time_reached`[protected]`

bool useShadow`[protected]`

VideoStream videostream`[protected]`

int windowHeight`[protected]`

int windowWidth`[protected]`

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

- simulation.h
- simulation.cpp