RWPEIsland Class Reference

The RWPEIsland engine. More...

#include <RWPEIsland.hpp>

Inherits PhysicsEngine.

Public Types
typedef rw::common::Ptr< RWPEIsland >	Ptr
	Smart pointer type of RWPEIsland.
Public Types inherited from PhysicsEngine
typedef rw::common::Ptr< PhysicsEngine >	Ptr
	smart pointer type of PhysicsEngine

Public Member Functions
	RWPEIsland ()
	Create a new empty RWPEIsland.
	RWPEIsland (rw::common::Ptr< rwsim::contacts::ContactDetector > detector)
	Create a new empty RWPEIsland. More...
	RWPEIsland (rw::common::Ptr< rwsim::dynamics::DynamicWorkCell > dwc, rw::common::Ptr< rwsim::contacts::ContactDetector > detector=NULL)
	Create a new RWPEIsland physics engine based on a complete dynamic workcell. More...
	~RWPEIsland ()
	Destructor.
const rw::math::Vector3D &	getGravity () const
	Get the currently used gravity in world frame. More...
void	setGravity (const rw::math::Vector3D<> &gravity)
	Set the gravity. More...
void	step (double dt, rw::common::Ptr< rw::common::ThreadTask > task)
	Step the simulator by adding work to ThreadTask. More...
RWPEIslandState	getRWPEState () const
	Get a copy of the internal state of the engine. More...
rw::kinematics::State	getState () const
	Get the current internal state of the simulator. More...
void	resetScene (const RWPEIslandState &state)
	Reset the internal engine state. More...
virtual void	load (rw::common::Ptr< rwsim::dynamics::DynamicWorkCell > dwc)
bool	setContactDetector (rw::common::Ptr< rwsim::contacts::ContactDetector > detector)
void	step (double dt)
void	step (double dt, rw::kinematics::State &state)
void	resetScene (rw::kinematics::State &state)
void	initPhysics (rw::kinematics::State &state)
void	exitPhysics ()
double	getTime ()
void	setEnabled (rw::common::Ptr< rwsim::dynamics::Body > body, bool enabled)
void	setDynamicsEnabled (rw::common::Ptr< rwsim::dynamics::Body > body, bool enabled)
rwsim::drawable::SimulatorDebugRender::Ptr	createDebugRender ()
rw::common::PropertyMap &	getPropertyMap ()
const rw::common::PropertyMap &	getPropertyMap () const
const rw::common::PropertyMap &	getPropertyMapDefault () const
	Get a map with the default properties. More...
void	emitPropertyChanged ()
void	addController (rw::common::Ptr< rwlibs::simulation::SimulatedController > controller)
void	removeController (rw::common::Ptr< rwlibs::simulation::SimulatedController > controller)
void	addBody (rw::common::Ptr< rwsim::dynamics::Body > body, rw::kinematics::State &state)
void	addDevice (rw::common::Ptr< rwsim::dynamics::DynamicDevice > dev, rw::kinematics::State &state)
void	addSensor (rwlibs::simulation::SimulatedSensor::Ptr sensor, rw::kinematics::State &state)
void	removeSensor (rwlibs::simulation::SimulatedSensor::Ptr sensor)
void	attach (rw::common::Ptr< rwsim::dynamics::Body > b1, rw::common::Ptr< rwsim::dynamics::Body > b2)
void	detach (rw::common::Ptr< rwsim::dynamics::Body > b1, rw::common::Ptr< rwsim::dynamics::Body > b2)
std::vector< rwlibs::simulation::SimulatedSensor::Ptr >	getSensors ()
void	setSimulatorLog (rw::common::Ptr< rwsim::log::SimulatorLogScope > log)
Public Member Functions inherited from PhysicsEngine
virtual	~PhysicsEngine ()
	destructor

Static Public Member Functions
static rw::common::PropertyMap	getDefaultPropertyMap ()
	Get a new PropertyMap with default properties. More...

Detailed Description

The RWPEIsland engine.

A RWPEIsland is a basic engine that will solve for all bodies, constraints and contacts in one large equation system. If the system can be decomposed into smaller independent RWPEIslands, it is the responsibility of the user to do this.

Under normal circumstances this engine should not be used by the user directly, as it will be too computationally expensive to solve dynamics for large dynamic workcells as one unit. Instead the RWPEWorld engine should be used, which will decompose and manage independent RWPEIslands dynamically to achieve best possible performance. It will also manage time synchronization between islands.

Consider using the RWPEIsland directly in rare circumstances if the dynamic system is extremely simple, and the overhead in managing independent islands would be too big.

Please note that the simulator uses many thresholds, tolerances and other properties. These are documented in the documentation for the getDefaultPropertyMap function.

Constructor & Destructor Documentation

RWPEIsland() [1/2]

RWPEIsland

(

rw::common::Ptr< rwsim::contacts::ContactDetector >

detector

)

Create a new empty RWPEIsland.

Parameters

detector

[in] the contact detector to use.

RWPEIsland() [2/2]

RWPEIsland	(	rw::common::Ptr< rwsim::dynamics::DynamicWorkCell >	dwc,
		rw::common::Ptr< rwsim::contacts::ContactDetector >	detector = NULL
	)

Create a new RWPEIsland physics engine based on a complete dynamic workcell.

Parameters

dwc	[in] the dynamic workcell to create island from.
detector	[in] (optional) the contact detector to use. If none given a default detector is created.

Member Function Documentation

addBody()

void addBody ( rw::common::Ptr< rwsim::dynamics::Body >  body, rw::kinematics::State &  state  )

virtual

Implements PhysicsEngine.

addController()

void addController ( rw::common::Ptr< rwlibs::simulation::SimulatedController >  controller )

virtual

Implements PhysicsEngine.

addDevice()

void addDevice ( rw::common::Ptr< rwsim::dynamics::DynamicDevice >  dev, rw::kinematics::State &  state  )

virtual

Implements PhysicsEngine.

addSensor()

void addSensor ( rwlibs::simulation::SimulatedSensor::Ptr  sensor, rw::kinematics::State &  state  )

virtual

Implements PhysicsEngine.

attach()

void attach ( rw::common::Ptr< rwsim::dynamics::Body >  b1, rw::common::Ptr< rwsim::dynamics::Body >  b2  )

virtual

Implements PhysicsEngine.

createDebugRender()

rwsim::drawable::SimulatorDebugRender::Ptr createDebugRender ( )

virtual

Implements PhysicsEngine.

detach()

void detach ( rw::common::Ptr< rwsim::dynamics::Body >  b1, rw::common::Ptr< rwsim::dynamics::Body >  b2  )

virtual

Implements PhysicsEngine.

emitPropertyChanged()

void emitPropertyChanged ( )

virtual

Implements PhysicsEngine.

exitPhysics()

void exitPhysics ( )

virtual

Implements PhysicsEngine.

getDefaultPropertyMap()

static rw::common::PropertyMap getDefaultPropertyMap ( )

static

Get a new PropertyMap with default properties.

This function will return the properties that are used if they have not been specified by the user. These options are loaded from the dynamic workcell. Please see the Dynamic WorkCell XML File Format page for more information on this.

Below you find a list of properties used by this engine by default. Please be aware that some properties are used to specify alternative implementations of certain subcomponents of the simulator. These alternative implementations might use different properties, which will be documented in the relevant classes. The map returned by this function will include the default properties for the default choice of subcomponents. These will not be documented in the list below, but instead references are provided to more information on the specific properties for these components.

Property Name	Type	Default value	Description
RWPECollisionSolver	string	Hybrid	Specifies the RWPECollisionSolver used (default is RWPECollisionSolverHybrid).
-	-	-	See RWPECollisionSolverHybrid::addDefaultProperties for further information on the properties used by collision solvers.
RWPEContactResolver	string	Full	Specifies the RWPEContactResolver used (default is RWPEContactResolverFull).
-	-	-	See RWPEContactResolver::addDefaultProperties for further information on the properties used by contact resolvers.
RWPEConstraintSolver	string	Iterative	Specifies the RWPEConstraintSolver used (default is RWPEConstraintSolverIterative).
-	-	-	See RWPEConstraintSolver::addDefaultProperties for further information on the properties used by solvers.
RWPERollbackMethod	string	Ridder	Specifies the RWPERollbackMethod used (default is RWPERollbackMethodRidder).
RWPECorrection	int	1	Enable or disable correction (default is enabled=1).
-	-	-	See RWPEConstraintCorrection::addDefaultProperties for further information on the properties used by correction method.
RWPERollback	int	1	Enable or disable rollback (default is enabled=1).
RWPERollbackThreshold	float		Precision of rollback.
RWPERollbackIterations	int	10	Stop with exception if rollback requires more than this number of iterations.
RWPEWorkspace	float	10	The coordinates of all bodies must lie within this workspace, or simulation fails (meters).
RWPEConstraintMaxForce	float		Stop with exception if theshold exceeds this value (Newtons).

getGravity()

const rw::math::Vector3D& getGravity

(

)

const

Get the currently used gravity in world frame.

Returns

the gravity.

getPropertyMap() [1/2]

rw::common::PropertyMap& getPropertyMap ( )

virtual

Implements PhysicsEngine.

getPropertyMap() [2/2]

const rw::common::PropertyMap& getPropertyMap

(

)

const

getPropertyMapDefault()

const rw::common::PropertyMap& getPropertyMapDefault

(

)

const

Get a map with the default properties.

Returns

default PropertyMap.

getRWPEState()

RWPEIslandState getRWPEState

(

)

const

Get a copy of the internal state of the engine.

Returns

a copy of the state.

getSensors()

std::vector<rwlibs::simulation::SimulatedSensor::Ptr> getSensors ( )

virtual

Implements PhysicsEngine.

getState()

rw::kinematics::State getState

(

)

const

Get the current internal state of the simulator.

Returns

a copy of the internal state.

getTime()

double getTime ( )

virtual

Implements PhysicsEngine.

initPhysics()

void initPhysics ( rw::kinematics::State &  state )

virtual

Implements PhysicsEngine.

load()

virtual void load ( rw::common::Ptr< rwsim::dynamics::DynamicWorkCell >  dwc )

virtual

Implements PhysicsEngine.

removeController()

void removeController ( rw::common::Ptr< rwlibs::simulation::SimulatedController >  controller )

virtual

Implements PhysicsEngine.

removeSensor()

void removeSensor ( rwlibs::simulation::SimulatedSensor::Ptr  sensor )

virtual

Implements PhysicsEngine.

resetScene() [1/2]

void resetScene

(

const RWPEIslandState &

state

)

Reset the internal engine state.

Parameters

state

[in] the state to reset to.

resetScene() [2/2]

void resetScene ( rw::kinematics::State &  state )

virtual

Implements PhysicsEngine.

setContactDetector()

bool setContactDetector ( rw::common::Ptr< rwsim::contacts::ContactDetector >  detector )

virtual

Implements PhysicsEngine.

setDynamicsEnabled()

void setDynamicsEnabled ( rw::common::Ptr< rwsim::dynamics::Body >  body, bool  enabled  )

virtual

Implements PhysicsEngine.

setEnabled()

void setEnabled ( rw::common::Ptr< rwsim::dynamics::Body >  body, bool  enabled  )

virtual

Implements PhysicsEngine.

setGravity()

void setGravity

(

const rw::math::Vector3D<> &

gravity

)

Set the gravity.

Parameters

gravity

[in] the gravity given in world frame.

setSimulatorLog()

void setSimulatorLog ( rw::common::Ptr< rwsim::log::SimulatorLogScope >  log )

virtual

Reimplemented from PhysicsEngine.

step() [1/3]

void step	(	double	dt,
		rw::common::Ptr< rw::common::ThreadTask >	task
	)

Step the simulator by adding work to ThreadTask.

The work is added as a single subtask to the given ThreadTask.

Note

This functions returns immediately and the state should not be accessed before work added to ThreadTask has finished.

Parameters

dt	[in] the timestep.
task	[in] the task to add work to.

step() [2/3]

void step

(

double

dt

)

step() [3/3]

void step ( double  dt, rw::kinematics::State &  state  )

virtual

Implements PhysicsEngine.

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

• RWPEIsland.hpp