jafar::ddfsimu::RobotSimu Class Reference

This is the main class for robot simulation. More...

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Detailed Description

This is the main class for robot simulation.

Sensors can be connected to the robot and the simulation generates the measures

Author:

Pierre Lamon

Definition at line 27 of file robotsimu.hpp.

#include <robotsimu.hpp>

Inheritance diagram for jafar::ddfsimu::RobotSimu:

List of all members.

Classes
class	SortedBufferItem
Public Types
enum	SORT_STAMP_TYPE { SORT_STAMP_SENSED, SORT_STAMP_AVAILABLE }
typedef std::multiset < SortedBufferItem >	SortedBuffer
Public Member Functions
	RobotSimu (unsigned short sv_size, std::string name, bool use_only_vel=false, bool use_biases=false)
unsigned short	GetRobID () const
void	Filter (bool with_biases)
void	AddSensor (SensorSimuBase *sensor)
void	RemoveSensorByID (unsigned short id)
void	RemoveAllSensors ()
MeasureItem const &	GetStateVector (unsigned short idx) const
MeasureItem const &	GetInfoVector (unsigned short idx) const
MeasureItem const &	GetVarVector (unsigned short idx) const
MeasureItem const &	GetInfoMatVector (unsigned short idx) const
unsigned short	GetSvSize ()
bool	HasBias ()
bool	UseOnlyVel ()
unsigned short	GetStatesNr ()
void	SimulatePropPerception ()
void	SimulateExtPerception (RobotSimu &other_rob)
void	SimulateAll (RobotSimu &other_rob)
void	FillUpMeasurementSet (SORT_STAMP_TYPE stmp_type)
void	ClearUpMeasurementSet ()
void	ClearAllSensorsMeasurements ()
void	InitStampJitter (time const &jitter)
short	GetCurrentSensorID () const
SensorSimuBase *	GetCurrentSensorPointer () const
SortedBuffer::iterator	GetCurrentIterator () const
SENSOR_TYPE	GetCurrentSensorType () const
time	GetCurrentLastSensed () const
int	GetCurrentTriggerNodeID ()
bool	IsCurrentTriggerUpdatePOM ()
time	GetCurrentRelTime ()
time const &	GetCurrentSensorPeriod () const
bool	GetCurrentInfo (InfoContainer &meas)
MeasureItem const &	GetCurrentMeasure () const
bool	GetNextInfo (InfoContainer &meas)
void	ResetCounter ()
bool	IncCounter ()
bool	EndBuf ()
void	DumpAllMeasures (const char *fname)
void	DumpTruth (const char *fname)
void	DumpSensor (const char *fname, unsigned short rank)
void	DumpSensorByID (const char *fname, unsigned short id)
unsigned short	GetNrMeas ()
unsigned short	GetSensorID (unsigned short rank_in_array)
std::string	GetSensorName (unsigned short rank_in_array)
unsigned short	GetNumSensors ()
void	ListAllSensors ()
void	ListSensorsOfType (SENSOR_TYPE type)
template<typename T >
T *	GetSensorOfType (unsigned short rank)
unsigned short	GetNumSensorsOfType (SENSOR_TYPE type)
int	GetSensorID (SENSOR_TYPE type, unsigned short rank)
void	PrintRobot ()
void	SearchMinTimeSlice ()
double	GetMinTimeSlice () const
unsigned short	GetMinSamplesNr () const
void	PerceiveWithPropSensor (SensorSimuBase &sensor)
SensorBase *	GetSensorByID (unsigned short id)
void	ResetSensorsGetNext ()
Protected Attributes
unsigned short	m_rob_id
Private Types
typedef std::vector < SensorSimuBase * >	Sensors
typedef std::vector< MeasureItem >	FilterStateStorage
Private Member Functions
void	InfoInitFilter (Bayesian_filter::Information_scheme &info_scheme, unsigned short sv_size, bool with_biases)
void	DumpMeasure (unsigned short nb, MeasureItem const &meas, std::ofstream &stream) const
bool	isSensorOfType (SensorSimuBase *sensor, SENSOR_TYPE type)
SensorSimuBase *	GetSensorPointer (unsigned short rank)
Private Attributes
Sensors	m_sensors
double	m_min_time_slice
FilterStateStorage	m_sv_store
FilterStateStorage	m_iv_store
FilterStateStorage	m_svar_store
FilterStateStorage	m_iv_info_store
double	m_sv_min_slice
SortedBuffer	Sbuf
unsigned short	m_sv_size
SortedBuffer::iterator	m_meas_it
unsigned short	m_nr_meas
bool	m_use_only_vel
bool	m_with_biases

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

• modules/ddfsimu/include/ddfsimu/robotsimu.hpp