Package org.robwork.sdurwsim
Class DynamicSimulator
- java.lang.Object
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- org.robwork.sdurw_simulation.Simulator
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- org.robwork.sdurwsim.DynamicSimulator
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public class DynamicSimulator extends Simulator
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Nested Class Summary
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Nested classes/interfaces inherited from class org.robwork.sdurw_simulation.Simulator
Simulator.UpdateInfo
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Constructor Summary
Constructors Constructor Description DynamicSimulator(long cPtr, boolean cMemoryOwn)
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Method Summary
All Methods Static Methods Instance Methods Concrete Methods Modifier and Type Method Description void
addBody(BodyPtr body, State state)
void
addController(SimulatedControllerPtr controller)
void
addDevice(DynamicDevicePtr dev, State state)
void
addSensor(SimulatedSensorPtr sensor, State state)
void
attach(BodyPtr b1, BodyPtr b2)
void
delete()
void
detach(BodyPtr b1, BodyPtr b2)
void
disableBodyControl()
void
disableBodyControl(BodyPtr body)
void
exitPhysics()
BodyControllerPtr
getBodyController()
static long
getCPtr(DynamicSimulator obj)
PropertyMap
getPropertyMap()
get propertymap of this simulatorSWIGTYPE_p_std__vectorT_rw__core__PtrT_rwlibs__simulation__SimulatedSensor_t_t
getSensors()
State
getState()
get current state of simulatordouble
getTime()
gets the the current simulated timevoid
init(State state)
initialize simulator with state variablesstatic DynamicSimulatorPtr
make(DynamicWorkCellPtr dworkcell, PhysicsEnginePtr pengine)
void
removeController(SimulatedControllerPtr controller)
void
removeSensor(SimulatedSensorPtr sensor)
void
reset(State state)
reset velocity and acceleration of all bodies to 0.void
setDynamicsEnabled(BodyPtr body, boolean enabled)
void
setEnabled(FramePtr f, boolean enabled)
Enables or disables simulation of a frame
Conditional comment:void
setEnabled(BodyPtr body, boolean enabled)
void
setTarget(BodyPtr body, Transform3D t3d, State state)
void
setTarget(BodyPtr body, TrajectoryTransform3DPtr traj)
void
step(double dt)
take a step forward in time with timestep dt.-
Methods inherited from class org.robwork.sdurw_simulation.Simulator
getController, getCPtr, getSensor
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Method Detail
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getCPtr
public static long getCPtr(DynamicSimulator obj)
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make
public static DynamicSimulatorPtr make(DynamicWorkCellPtr dworkcell, PhysicsEnginePtr pengine)
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exitPhysics
public void exitPhysics()
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getTime
public double getTime()
Description copied from class:Simulator
gets the the current simulated time
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getState
public State getState()
Description copied from class:Simulator
get current state of simulator
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setEnabled
public void setEnabled(BodyPtr body, boolean enabled)
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getPropertyMap
public PropertyMap getPropertyMap()
Description copied from class:Simulator
get propertymap of this simulator- Overrides:
getPropertyMap
in classSimulator
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addController
public void addController(SimulatedControllerPtr controller)
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removeController
public void removeController(SimulatedControllerPtr controller)
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addDevice
public void addDevice(DynamicDevicePtr dev, State state)
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addSensor
public void addSensor(SimulatedSensorPtr sensor, State state)
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removeSensor
public void removeSensor(SimulatedSensorPtr sensor)
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getSensors
public SWIGTYPE_p_std__vectorT_rw__core__PtrT_rwlibs__simulation__SimulatedSensor_t_t getSensors()
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step
public void step(double dt)
Description copied from class:Simulator
take a step forward in time with timestep dt.
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reset
public void reset(State state)
Description copied from class:Simulator
reset velocity and acceleration of all bodies to 0. And sets the position of all
bodies to that described in state
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init
public void init(State state)
Description copied from class:Simulator
initialize simulator with state variables
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setEnabled
public void setEnabled(FramePtr f, boolean enabled)
Description copied from class:Simulator
Enables or disables simulation of a frame
Conditional comment:- Overrides:
setEnabled
in classSimulator
- Parameters:
f
- [in]enabled
- [in]
End of conditional comment.
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setDynamicsEnabled
public void setDynamicsEnabled(BodyPtr body, boolean enabled)
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setTarget
public void setTarget(BodyPtr body, Transform3D t3d, State state)
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setTarget
public void setTarget(BodyPtr body, TrajectoryTransform3DPtr traj)
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disableBodyControl
public void disableBodyControl(BodyPtr body)
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disableBodyControl
public void disableBodyControl()
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getBodyController
public BodyControllerPtr getBodyController()
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