Stg::World Class Reference

World class More...

#include <stage.hh>


Classes
struct	eqstr
Public Member Functions
virtual void	AddModel (Model *mod)
void	AddPowerPack (PowerPack *pp)
SuperRegion *	AddSuperRegion (const stg_point_int_t &coord)
void	AddUpdateCallback (stg_world_callback_t cb, void *user)
void	CancelQuit ()
void	CancelQuitAll ()
void	ChargeListAdd (Model *mod)
void	ChargeListRemove (Model *mod)
void	ClearRays ()
virtual std::string	ClockString (void)
Model *	CreateModel (Model parent, const char typestr)
SuperRegion *	CreateSuperRegion (stg_point_int_t origin)
void	DestroySuperRegion (SuperRegion *sr)
void	ExpireSuperRegion (SuperRegion *sr)
void	Extend (stg_point3_t pt)
void	ForEachCellInLine (const stg_point_int_t &pt1, const stg_point_int_t &pt2, CellPtrVec &cells)
Cell *	GetCell (const stg_point_int_t &glob)
stg_bounds3d_t	GetExtent ()
Model *	GetGround ()
Model *	GetModel (const char *name)
stg_usec_t	GetSimInterval ()
SuperRegion *	GetSuperRegion (const stg_point_int_t &coord)
SuperRegion *	GetSuperRegionCached (int32_t x, int32_t y)
SuperRegion *	GetSuperRegionCached (const stg_point_int_t &coord)
long unsigned int	GetUpdateCount ()
Worldfile *	GetWorldFile ()
virtual bool	IsGUI ()
virtual void	Load (const char *worldfile_path)
void	LoadBlock (Worldfile *wf, int entity)
void	LoadBlockGroup (Worldfile *wf, int entity)
void	LoadModel (Worldfile *wf, int entity)
void	Log (Model *mod)
stg_point_int_t	MetersToPixels (const stg_point_t &pt)
int32_t	MetersToPixels (stg_meters_t x)
void	NeedRedraw ()
bool	PastQuitTime ()
bool	Paused ()
virtual void	PopColor ()
virtual void	PushColor (double r, double g, double b, double a)
virtual void	PushColor (Color col)
void	Quit ()
void	QuitAll ()
void	Raytrace (const Pose &pose, const stg_meters_t range, const stg_radians_t fov, const stg_ray_test_func_t func, const Model finder, const void arg, stg_raytrace_result_t *samples, const uint32_t sample_count, const bool ztest)
stg_raytrace_result_t	Raytrace (const Pose &pose, const stg_meters_t range, const stg_ray_test_func_t func, const Model finder, const void arg, const bool ztest)
stg_raytrace_result_t	Raytrace (const Ray &ray)
stg_usec_t	RealTimeNow (void)
stg_usec_t	RealTimeSinceStart (void)
virtual Model *	RecentlySelectedModel ()
void	RecordRay (double x1, double y1, double x2, double y2)
void	RegisterOption (Option *opt)
	Register an Option for pickup by the GUI.
virtual void	Reload ()
virtual void	RemoveModel (Model *mod)
void	RemovePowerPack (PowerPack *pp)
int	RemoveUpdateCallback (stg_world_callback_t cb, void *user)
double	Resolution ()
virtual bool	Save (const char *filename)
void	ShowClock (bool enable)
	Control printing time to stdout.
stg_usec_t	SimTimeNow (void)
virtual void	Start ()
virtual void	Stop ()
bool	TestQuit ()
virtual void	TogglePause ()
void	TryCharge (PowerPack *pp, const Pose &pose)
virtual void	UnLoad ()
virtual bool	Update (void)
int	UpdateListAdd (Model *mod)
void	UpdateListRemove (Model *mod)
void	VelocityListAdd (Model *mod)
void	VelocityListRemove (Model *mod)
	World (const char *token="MyWorld", stg_msec_t interval_sim=DEFAULT_INTERVAL_SIM, double ppm=DEFAULT_PPM)
virtual	~World ()
Static Public Member Functions
static void *	update_thread_entry (std::pair< World , int > info)
static bool	UpdateAll ()
Public Attributes
Model *	ground
bool	paused
	the world only updates when this is false or steps > 0
PointIntVec	rt_candidate_cells
PointIntVec	rt_cells
unsigned int	steps
Static Public Attributes
static std::vector< std::string >	args
static const stg_msec_t	DEFAULT_INTERVAL_SIM = 100
	duration of sim timestep
static const int	DEFAULT_PPM = 50
Protected Member Functions
void	CallUpdateCallbacks ()
	Call all calbacks in cb_list, removing any that return true;.
Protected Attributes
std::list< std::pair < stg_world_callback_t, void * > >	cb_list
	List of callback functions and arguments.
stg_bounds3d_t	extent
	Describes the 3D volume of the world.
bool	graphics
	true iff we have a GUI
stg_usec_t	interval_sim
	temporal resolution: microseconds that elapse between simulated time steps
std::set< Option * >	option_table
	GUI options (toggles) registered by models.
std::list< PowerPack * >	powerpack_list
	List of all the powerpacks attached to models in the world.
std::list< float * >	ray_list
	List of rays traced for debug visualization.
stg_usec_t	sim_time
	the current sim time in this world in microseconds
SuperRegion *	sr_cached
	The last superregion looked up by this world.
std::map< stg_point_int_t, SuperRegion * >	superregions
std::vector< ModelPtrVec >	update_lists
long unsigned int	updates
	the number of simulated time steps executed so far
Worldfile *	wf
	If set, points to the worldfile used to create this world.

Detailed Description

World class

Constructor & Destructor Documentation

World::World	(	const char *	token = `"MyWorld"`,
		stg_msec_t	interval_sim = `DEFAULT_INTERVAL_SIM`,
		double	ppm = `DEFAULT_PPM`
	)

World::~World ( void ) [virtual]

Member Function Documentation

void World::AddModel ( Model * mod ) [virtual]

void World::AddPowerPack ( PowerPack * pp )

SuperRegion * World::AddSuperRegion ( const stg_point_int_t & coord )

void World::AddUpdateCallback	(	stg_world_callback_t	cb,
		void *	user
	)

Attach a callback function, to be called with the argument at the end of a complete update step

void World::CallUpdateCallbacks ( ) [protected]

Call all calbacks in cb_list, removing any that return true;.

void Stg::World::CancelQuit ( ) [inline]

void Stg::World::CancelQuitAll ( ) [inline]

void World::ChargeListAdd ( Model * mod )

void World::ChargeListRemove ( Model * mod )

void World::ClearRays ( )

std::string World::ClockString ( void ) [virtual]

Get human readable string that describes the current simulation time.

Reimplemented in Stg::WorldGui.

Model * World::CreateModel	(	Model *	parent,
		const char *	typestr
	)

SuperRegion * World::CreateSuperRegion ( stg_point_int_t origin )

void World::DestroySuperRegion ( SuperRegion * sr )

void Stg::World::ExpireSuperRegion ( SuperRegion * sr )

void World::Extend ( stg_point3_t pt )

Enlarge the bounding volume to include this point

void Stg::World::ForEachCellInLine	(	const stg_point_int_t &	pt1,
		const stg_point_int_t &	pt2,
		CellPtrVec &	cells
	)

add a Cell pointer to the vector for each cell on the line from pt1 to pt2 inclusive

Cell * World::GetCell ( const stg_point_int_t & glob ) [inline]

stg_bounds3d_t Stg::World::GetExtent ( ) [inline]

Return the 3D bounding box of the world, in meters

Model* Stg::World::GetGround ( ) [inline]

Return the floor model

Model * World::GetModel ( const char * name )

Returns a pointer to the model identified by name, or NULL if nonexistent

stg_usec_t Stg::World::GetSimInterval ( ) [inline]

SuperRegion * World::GetSuperRegion ( const stg_point_int_t & coord ) [inline]

SuperRegion * World::GetSuperRegionCached	(	int32_t	x,
		int32_t	y
	)			`[inline]`

SuperRegion * World::GetSuperRegionCached ( const stg_point_int_t & coord ) [inline]

long unsigned int Stg::World::GetUpdateCount ( ) [inline]

Return the number of times the world has been updated.

Worldfile* Stg::World::GetWorldFile ( ) [inline]

virtual bool Stg::World::IsGUI ( ) [inline, virtual]

Reimplemented in Stg::WorldGui.

void World::Load ( const char * worldfile_path ) [virtual]

Reimplemented in Stg::WorldGui.

void World::LoadBlock	(	Worldfile *	wf,
		int	entity
	)

void Stg::World::LoadBlockGroup	(	Worldfile *	wf,
		int	entity
	)

void World::LoadModel	(	Worldfile *	wf,
		int	entity
	)

void World::Log ( Model * mod )

Log the state of a Model

stg_point_int_t Stg::World::MetersToPixels ( const stg_point_t & pt ) [inline]

int32_t Stg::World::MetersToPixels ( stg_meters_t x ) [inline]

convert a distance in meters to a distance in world occupancy grid pixels

void Stg::World::NeedRedraw ( ) [inline]

hint that the world needs to be redrawn if a GUI is attached

bool World::PastQuitTime ( )

Returns true iff the current time is greater than the time we should quit

bool Stg::World::Paused ( ) [inline]

virtual void Stg::World::PopColor ( ) [inline, virtual]

Reimplemented in Stg::WorldGui.

virtual void Stg::World::PushColor	(	double	r,
		double	g,
		double	b,
		double	a
	)			`[inline, virtual]`

Reimplemented in Stg::WorldGui.

virtual void Stg::World::PushColor ( Color col ) [inline, virtual]

Reimplemented in Stg::WorldGui.

void Stg::World::Quit ( ) [inline]

void Stg::World::QuitAll ( ) [inline]

void World::Raytrace	(	const Pose &	pose,
		const stg_meters_t	range,
		const stg_radians_t	fov,
		const stg_ray_test_func_t	func,
		const Model *	finder,
		const void *	arg,
		stg_raytrace_result_t *	samples,
		const uint32_t	sample_count,
		const bool	ztest
	)

stg_raytrace_result_t World::Raytrace	(	const Pose &	pose,
		const stg_meters_t	range,
		const stg_ray_test_func_t	func,
		const Model *	finder,
		const void *	arg,
		const bool	ztest
	)

stg_raytrace_result_t World::Raytrace ( const Ray & ray )

trace a ray.

stg_usec_t World::RealTimeNow ( void ) [inline]

stg_usec_t World::RealTimeSinceStart ( void ) [inline]

virtual Model* Stg::World::RecentlySelectedModel ( ) [inline, virtual]

Reimplemented in Stg::WorldGui.

void World::RecordRay	(	double	x1,
		double	y1,
		double	x2,
		double	y2
	)

store rays traced for debugging purposes

void World::RegisterOption ( Option * opt )

Register an Option for pickup by the GUI.

void World::Reload ( void ) [virtual]

void World::RemoveModel ( Model * mod ) [virtual]

void World::RemovePowerPack ( PowerPack * pp )

int World::RemoveUpdateCallback	(	stg_world_callback_t	cb,
		void *	user
	)

Remove a callback function. Any argument data passed to AddUpdateCallback is not automatically freed.

double Stg::World::Resolution ( ) [inline]

Get the resolution in pixels-per-metre of the underlying discrete raytracing model

bool World::Save ( const char * filename ) [virtual]

Reimplemented in Stg::WorldGui.

void Stg::World::ShowClock ( bool enable ) [inline]

Control printing time to stdout.

stg_usec_t World::SimTimeNow ( void )

virtual void Stg::World::Start ( ) [inline, virtual]

Reimplemented in Stg::WorldGui.

virtual void Stg::World::Stop ( ) [inline, virtual]

Reimplemented in Stg::WorldGui.

bool Stg::World::TestQuit ( ) [inline]

virtual void Stg::World::TogglePause ( ) [inline, virtual]

void Stg::World::TryCharge	(	PowerPack *	pp,
		const Pose &	pose
	)

void World::UnLoad ( ) [virtual]

Reimplemented in Stg::WorldGui.

bool World::Update ( void ) [virtual]

Reimplemented in Stg::WorldGui.

void * World::update_thread_entry ( std::pair< World *, int > * info ) [static]

bool World::UpdateAll ( ) [static]

returns true when time to quit, false otherwise

int World::UpdateListAdd ( Model * mod )

void World::UpdateListRemove ( Model * mod )

void World::VelocityListAdd ( Model * mod )

void World::VelocityListRemove ( Model * mod )

Member Data Documentation

std::vector< std::string > World::args [static]

contains the command line arguments passed to Stg::Init(), so that controllers can read them.

std::list<std::pair<stg_world_callback_t,void*> > Stg::World::cb_list [protected]

List of callback functions and arguments.

const stg_msec_t Stg::World::DEFAULT_INTERVAL_SIM = 100 [static]

duration of sim timestep

const int Stg::World::DEFAULT_PPM = 50 [static]

stg_bounds3d_t Stg::World::extent [protected]

Describes the 3D volume of the world.

bool Stg::World::graphics [protected]

true iff we have a GUI

Model* Stg::World::ground

Special model for the floor of the world

stg_usec_t Stg::World::interval_sim [protected]

temporal resolution: microseconds that elapse between simulated time steps

std::set<Option*> Stg::World::option_table [protected]

GUI options (toggles) registered by models.

bool Stg::World::paused

the world only updates when this is false or steps > 0

std::list<PowerPack*> Stg::World::powerpack_list [protected]

List of all the powerpacks attached to models in the world.

std::list<float*> Stg::World::ray_list [protected]

List of rays traced for debug visualization.

PointIntVec Stg::World::rt_candidate_cells

PointIntVec Stg::World::rt_cells

stg_usec_t Stg::World::sim_time [protected]

the current sim time in this world in microseconds

SuperRegion* Stg::World::sr_cached [protected]

The last superregion looked up by this world.

unsigned int Stg::World::steps

When paused, stage updates while steps > 0, decrementing steps with each update.

std::map<stg_point_int_t,SuperRegion*> Stg::World::superregions [protected]

std::vector<ModelPtrVec > Stg::World::update_lists [protected]

long unsigned int Stg::World::updates [protected]

the number of simulated time steps executed so far

Worldfile* Stg::World::wf [protected]

If set, points to the worldfile used to create this world.

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

Stg::World Class Reference

Classes

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation