GripSimulation Class Reference

Class that handles the simulation loop, simulation timeline, timing and communicates with the main GUI thread via slots and signals. This class subclass QObject and is used by creating an instance of the class and then moving it to a thread with the "moveToThread(QThread*)" function. More...

#include <GripSimulation.h>

List of all members.

Public Slots
virtual void	startSimulation ()
	Slot that checks if there's a world object. If so, initialize time variables and start the simulation loop. Otherwise exit.
virtual void	stopSimulation ()
	Slot that sets the simulating flag to false to stop the simulation loop.
virtual void	simulateTimeStep ()
	Slot that simulates a single time step. This function calls itself, unless the flag "simulateOneFrame" is set to true.
virtual void	simulateSingleTimeStep ()
	Slot that sets the "simulateOneFrame" to true and simulate a time step.
Signals
void	simulationStoppedSignal ()
	Signal to tell parent widget that the simulation loop is done. This is used to make sure the simulation loop is done using the world object before the parent deletes it.
void	signalRelTimeChanged (double simTimeRelToRealTimeInstantaneous)
	Signal to pass the time value of the simulation real time.
void	signalSendMessage (QString msg)
	Signal to pass message to status bar in main window.
Public Member Functions
	GripSimulation (dart::simulation::World *world, std::vector< GripTimeslice > *timeline, QList< GripTab * > *pluginLinst, MainWindow *parent=0, bool debug=false)
	Macro to create meta-object code for the signals and slots.
	~GripSimulation ()
	Destroys the GripSimulation object.
void	setWorld (dart::simulation::World *world)
	Set the world object for the simulation.
void	reset ()
	Reset the GripSimulation object.
Protected Member Functions
void	addWorldToTimeline (const dart::simulation::World &worldToAdd)
	Adds a GripTimeslice to the timeline vector in order to store the world time and state in the timeline for playback or movie saving at a later time.
Protected Attributes
dart::simulation::World *	_world
	World object received from creator that we need to simulate.
std::vector< GripTimeslice > *	_timeline
	Array of GripTimeSlice objects for simulation/kinematic playback.
QList< GripTab * > *	_plugins
	List of plugin pointers in order call their functions every timestep of simulation.
QThread *	_thread
	Local thread to move object into.
double	_simulationDuration
	Simulation time in realtime.
double	_simulationStartTime
	Initial system clock time when simulation started.
double	_simTimeRelToRealTimeInstantaneous
	Simulation time relative to realtime (ie. 1.0 is realtime. 0.5 is half the speed of realtime)
double	_prevTime
	Real time on the last time step.
bool	_simulating
	Bool for whether or not we are simulating.
bool	_simulateOneFrame
	Bool for whether or not to simulate only one frame.
bool	_debug
	Bool for whether or not to print debug output to standard error.

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Detailed Description

Class that handles the simulation loop, simulation timeline, timing and communicates with the main GUI thread via slots and signals. This class subclass QObject and is used by creating an instance of the class and then moving it to a thread with the "moveToThread(QThread*)" function.

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Constructor & Destructor Documentation

GripSimulation::GripSimulation	(	dart::simulation::World *	world,
		std::vector< GripTimeslice > *	timeline,
		QList< GripTab * > *	pluginLinst,
		MainWindow *	parent = 0,
		bool	debug = false
	)

Macro to create meta-object code for the signals and slots.

Constructs a GripSimulation object

Parameters:

parent	Pointer to the parent widget. Default is 0
debug	Flag for whether or not to output debug statements

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Member Function Documentation

void GripSimulation::addWorldToTimeline

(

const dart::simulation::World &

worldToAdd

)

[protected]

Adds a GripTimeslice to the timeline vector in order to store the world time and state in the timeline for playback or movie saving at a later time.

Parameters:

worldToAdd

dart::simulation::World object of which to save the time and state.

Returns:

void

void GripSimulation::reset

(

)

Reset the GripSimulation object.

Returns:

void

void GripSimulation::setWorld

(

dart::simulation::World *

world

)

Set the world object for the simulation.

Parameters:

world

A pointer to the dart::simulation::World to be simulated

Returns:

void

void GripSimulation::signalRelTimeChanged

(

double

simTimeRelToRealTimeInstantaneous

)

[signal]

Signal to pass the time value of the simulation real time.

Parameters:

simTimeRelToRealTimeInstantaneous

The simluation time relative to real time

Returns:

void

void GripSimulation::signalSendMessage

(

QString

msg

)

[signal]

Signal to pass message to status bar in main window.

Parameters:

msg	QString message to display in status bar

Returns:

void

void GripSimulation::simulateSingleTimeStep

(

)

[virtual, slot]

Slot that sets the "simulateOneFrame" to true and simulate a time step.

Returns:

void

void GripSimulation::simulateTimeStep

(

)

[virtual, slot]

Slot that simulates a single time step. This function calls itself, unless the flag "simulateOneFrame" is set to true.

Returns:

void

void GripSimulation::simulationStoppedSignal

(

)

[signal]

Signal to tell parent widget that the simulation loop is done. This is used to make sure the simulation loop is done using the world object before the parent deletes it.

Returns:

void

void GripSimulation::startSimulation

(

)

[virtual, slot]

Slot that checks if there's a world object. If so, initialize time variables and start the simulation loop. Otherwise exit.

Returns:

void

void GripSimulation::stopSimulation

(

)

[virtual, slot]

Slot that sets the simulating flag to false to stop the simulation loop.

Returns:

void

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

• /home/pete/myRepos/grip2/include/GripSimulation.h
• /home/pete/myRepos/grip2/build/include/moc_GripSimulation.cxx
• /home/pete/myRepos/grip2/src/GripSimulation.cpp