AssemblySimulator Class Reference

A simulator for execution of AssemblyTasks. More...

#include <AssemblySimulator.hpp>

Public Types
typedef rw::core::Ptr< AssemblySimulator >	Ptr
	smart pointer type of this class

Public Member Functions
	AssemblySimulator (rw::core::Ptr< rwsim::dynamics::DynamicWorkCell > dwc, const std::string &engineID, rw::core::Ptr< rwsim::contacts::ContactDetector > contactDetector=NULL, rw::core::Ptr< rwsim::log::SimulatorLogScope > verbose=NULL)
	Construct new simulator. More...
virtual	~AssemblySimulator ()
	Destructor.
double	getDt () const
	Get the size of the timestep used in simulation. More...
void	setDt (double dt=0.001)
	Set the size of the timestep to use in simulation. More...
void	start (rw::core::Ptr< rw::common::ThreadTask > task=NULL)
	Run the simulation. More...
void	stopFinishCurrent ()
	Request stop when current tasks has finished.
void	stopCancelCurrent ()
	Request immediate stop. Current tasks are cancelled.
bool	isRunning ()
	Check if simulator is running. More...
void	setTasks (std::vector< rw::core::Ptr< rwlibs::assembly::AssemblyTask >> tasks)
	Set the tasks that should be executed in the simulator. More...
std::vector< rw::core::Ptr< rwlibs::assembly::AssemblyResult > >	getResults ()
	Retrieve the results after simulation. More...
void	setStoreExecutionData (bool enable)
	Enable storing trajectory data in the AssemblyResult. More...
bool	storeExecutionData ()
	Check if trajectory data is currently being stored. More...
double	getMaxSimTime () const
	Get the currently set limit for the simulation time per task. More...
void	setMaxSimTime (double maxTime)
	Set the limit for simulation time per task. More...
bool	getStartInApproach () const
	Test whether or not the simulation is set up to start in the approach pose. More...
void	setStartInApproach (bool val=false)
	Start simulation directly in the approach position as given by the strategy. More...

Detailed Description

A simulator for execution of AssemblyTasks.

Constructor & Destructor Documentation

AssemblySimulator()

AssemblySimulator	(	rw::core::Ptr< rwsim::dynamics::DynamicWorkCell >	dwc,
		const std::string &	engineID,
		rw::core::Ptr< rwsim::contacts::ContactDetector >	contactDetector = NULL,
		rw::core::Ptr< rwsim::log::SimulatorLogScope >	verbose = NULL
	)

Construct new simulator.

Parameters

dwc	[in] the dynamic workcell.
engineID	[in] the simulator to use for dynamic simulation (for instance "ODE").
contactDetector	[in] (optional) set a contact detector that should be used by the PhysicsEngine.
verbose	[in] (optional) set a logging structure to log to.

Member Function Documentation

getDt()

double getDt

(

)

const

Get the size of the timestep used in simulation.

Returns

the size of the timestep

getMaxSimTime()

double getMaxSimTime

(

)

const

Get the currently set limit for the simulation time per task.

Returns

the maximum simulated time to spend on a single task.

getResults()

std::vector<rw::core::Ptr<rwlibs::assembly::AssemblyResult> > getResults

(

)

Retrieve the results after simulation.

Returns

a vector of AssemblyResults.

getStartInApproach()

bool getStartInApproach

(

)

const

Test whether or not the simulation is set up to start in the approach pose.

Returns

true if simulation should start in approach pose.

isRunning()

bool isRunning

(

)

Check if simulator is running.

Returns

true if running.

setDt()

void setDt

(

double

dt = 0.001

)

Set the size of the timestep to use in simulation.

Parameters

dt	[in] the stepsize (default is 0.001 seconds).

setMaxSimTime()

void setMaxSimTime

(

double

maxTime

)

Set the limit for simulation time per task.

Parameters

maxTime

[in] the maximum simulated time to spend on a single task.

setStartInApproach()

void setStartInApproach

(

bool

val = false

)

Start simulation directly in the approach position as given by the strategy.

Parameters

val	[in] true if simulation should start in approach pose (default is false).

setStoreExecutionData()

void setStoreExecutionData

(

bool

enable

)

Enable storing trajectory data in the AssemblyResult.

Parameters

enable

[in] true if trajectory data should be stored, false otherwise.

setTasks()

void setTasks

(

std::vector< rw::core::Ptr< rwlibs::assembly::AssemblyTask >>

tasks

)

Set the tasks that should be executed in the simulator.

Parameters

tasks

[in] the tasks to execute.

start()

void start

(

rw::core::Ptr< rw::common::ThreadTask >

task = NULL

)

Run the simulation.

Parameters

task	(optional) if this simulator runs in a ThreadTask, pass a pointer to this task to let the simulator add work for parallel processing.

storeExecutionData()

bool storeExecutionData

(

)

Check if trajectory data is currently being stored.

Returns

true if trajectory data is stored, false otherwise.

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

• AssemblySimulator.hpp