roboticslab::ISimulation Class Reference

Base class for simulators.

#include <ISimulation.hpp>

Inheritance diagram for roboticslab::ISimulation:

Public Member Functions
virtual bool	start (double value)=0
virtual bool	stop ()=0
virtual bool	step (double value)=0
virtual bool	getSimulationRawPointerValue (yarp::os::Value &value)=0

Member Function Documentation

getSimulationRawPointerValue()

virtual bool roboticslab::ISimulation::getSimulationRawPointerValue ( yarp::os::Value &  value )

pure virtual

Retrieve a void pointer that can be casted to a world/environment pointer used to control any element of the simulation.

Parameters

value	storage to return param
id	optional param to specify id in case there are multiple environments/worlds/simulations

Returns

true/false

Implemented in roboticslab::YarpOpenraveSimulation.

start()

virtual bool roboticslab::ISimulation::start ( double  value )

pure virtual

Start the simulation (time steps will be called internally and continuously by the simulator). Simulation may default to already started, so may not be required upon initialization.

Parameters

value

duration that the simulation should use within internal continuous calls to its step function

Returns

true/false

Implemented in roboticslab::YarpOpenraveSimulation.

step()

virtual bool roboticslab::ISimulation::step ( double  value )

pure virtual

Take one simulation time step (to be used when the simulation is stopped / not started).

Parameters

value

duration of simulated time increment

Returns

true/false

Implemented in roboticslab::YarpOpenraveSimulation.

stop()

virtual bool roboticslab::ISimulation::stop ( )

pure virtual

Stops the simulation.

Returns

true/false

Implemented in roboticslab::YarpOpenraveSimulation.

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

• libraries/YarpPlugins/ISimulation.hpp