#include <world.h>

Inheritance diagram for flatland_server::World:

Collaboration diagram for flatland_server::World:

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Public Member Functions
	World ()
	Constructor for the world class. All data required for initialization should be passed in here.

	~World ()
	Destructor for the world class.

void	Update (Timekeeper &timekeeper)
	trigger world update include all physics and plugins More...

void	BeginContact (b2Contact *contact) override
	Box2D inherited begin contact. More...

void	EndContact (b2Contact *contact) override
	Box2D inherited end contact. More...

void	PreSolve (b2Contact contact, const b2Manifold oldManifold)
	Box2D inherited presolve. More...

void	PostSolve (b2Contact contact, const b2ContactImpulse impulse)
	Box2D inherited pre solve. More...

void	LoadWorldPlugins (YamlReader &world_plugin_reader, World *world, YamlReader &world_config)

void	LoadLayers (YamlReader &layers_reader)
	load layers into the world. Throws YAMLException. More...

void	LoadModels (YamlReader &models_reader)
	load models into the world. Throws YAMLException. More...

void	LoadModel (const std::string &model_yaml_path, const std::string &ns, const std::string &name, const Pose &pose)
	load models into the world. Throws YAMLException. More...

void	DeleteModel (const std::string &name)
	remove model with a given name More...

void	MoveModel (const std::string &name, const Pose &pose)
	move model with a given name More...

void	Pause ()
	set the paused state of the simulation to true

void	Resume ()
	set the paused state of the simulation to false

void	TogglePaused ()
	toggle the paused state of the simulation

bool	IsPaused ()
	returns true if service_paused_ is true or an interactive marker is currently being dragged

void	DebugVisualize (bool update_layers=true)
	Publish debug visualizations for everything. More...

Static Public Member Functions
static World *	MakeWorld (const std::string &yaml_path)
	factory method to create a instance of the world class. Cleans all the inputs before instantiation of the class. TThrows YAMLException. More...

Public Attributes
boost::filesystem::path	world_yaml_dir_
	directory containing world file

b2World *	physics_world_
	Box2D physics world.

b2Vec2	gravity_
	Box2D world gravity, always (0, 0)

std::map< std::vector< std::string >, Layer * >	layers_name_map_
	map of all layers and thier name

std::vector< Layer * >	layers_
	list of layers

std::vector< Model * >	models_
	list of models

CollisionFilterRegistry	cfr_
	collision registry for layers and models

PluginManager	plugin_manager_
	for loading and updating plugins

bool	service_paused_

InteractiveMarkerManager	int_marker_manager_
	for dynamically moving models from Rviz

int	physics_position_iterations_
	Box2D solver param.

int	physics_velocity_iterations_
	Box2D solver param.

Detailed Description

This class defines a world in the simulation. A world contains layers that can represent environments at multiple levels, and models which are can be robots or obstacles.

Member Function Documentation

void flatland_server::World::BeginContact ( b2Contact * contact )

override

Box2D inherited begin contact.

Parameters

[in] contact Box2D contact information

void flatland_server::World::DebugVisualize ( bool update_layers = true )

Publish debug visualizations for everything.

Parameters

[in] update_layers since layers are pretty much static, this parameter is used to skip updating layers

void flatland_server::World::DeleteModel ( const std::string & name )

remove model with a given name

Parameters

[in] name The name of the model to remove

void flatland_server::World::EndContact ( b2Contact * contact )

override

Box2D inherited end contact.

Parameters

[in] contact Box2D contact information

void flatland_server::World::LoadLayers ( YamlReader & layers_reader )

load layers into the world. Throws YAMLException.

Parameters

[in] layers_reader Yaml reader for node that has list of layers

void flatland_server::World::LoadModel	(	const std::string &	model_yaml_path,
		const std::string &	ns,
		const std::string &	name,
		const Pose &	pose
	)

load models into the world. Throws YAMLException.

Parameters

[in]	model_yaml_path	Relative path to the model yaml file
[in]	ns	Namespace of the robot
[in]	name	Name of the model
[in]	pose	Initial pose of the model in x, y, yaw

void flatland_server::World::LoadModels ( YamlReader & models_reader )

load models into the world. Throws YAMLException.

Parameters

[in] layers_reader Yaml reader for node that has a list of models

World * flatland_server::World::MakeWorld ( const std::string & yaml_path )

static

factory method to create a instance of the world class. Cleans all the inputs before instantiation of the class. TThrows YAMLException.

Parameters

[in] yaml_path Path to the world yaml file

Returns: pointer to a new world

void flatland_server::World::MoveModel	(	const std::string &	name,
		const Pose &	pose
	)

move model with a given name

Parameters

[in]	name	The name of the model to move
[in]	pose	The desired new pose of the model

void flatland_server::World::PostSolve	(	b2Contact *	contact,
		const b2ContactImpulse *	impulse
	)

Box2D inherited pre solve.

Parameters

[in]	contact	Box2D contact information
[in]	impulse	The calculated impulse from the collision resolute

void flatland_server::World::PreSolve	(	b2Contact *	contact,
		const b2Manifold *	oldManifold
	)

Box2D inherited presolve.

Parameters

[in]	contact	Box2D contact information
[in]	oldManifold	The manifold from the previous timestep

void flatland_server::World::Update ( Timekeeper & timekeeper )

trigger world update include all physics and plugins

Parameters

[in] timekeeper The time keeping object

Member Data Documentation

bool flatland_server::World::service_paused_

indicates if simulation is paused by a service call or not

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

flatland_server/include/flatland_server/world.h
flatland_server/src/world.cpp

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description

Member Function Documentation

Member Data Documentation