roboticslab::YarpOpenraveSimulation Class Reference

Implements the ISimulation, etc. interface class member functions.

#include <YarpOpenraveSimulation.hpp>

Inheritance diagram for roboticslab::YarpOpenraveSimulation:

Public Member Functions
bool	open (yarp::os::Searchable &config) override
bool	close () override
bool	step (double value) override
bool	start (double value) override
bool	stop () override
bool	getSimulationRawPointerValue (yarp::os::Value &value) override

Additional Inherited Members
bool	configureEnvironment (yarp::os::Searchable &config)
bool	configureOpenravePlugins (yarp::os::Searchable &config)
bool	configureRobot (yarp::os::Searchable &config)
bool	clean ()
Private Attributes inherited from roboticslab::YarpOpenraveBase
OpenRAVE::EnvironmentBasePtr	penv
OpenRAVE::RobotBasePtr	probot
std::string	robotName
boost::thread_group	openraveThreads

Member Function Documentation

getSimulationRawPointerValue()

bool YarpOpenraveSimulation::getSimulationRawPointerValue ( yarp::os::Value &  value )

overridevirtual

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

Implements roboticslab::ISimulation.

start()

bool YarpOpenraveSimulation::start ( double  value )

overridevirtual

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

Implements roboticslab::ISimulation.

step()

bool YarpOpenraveSimulation::step ( double  value )

overridevirtual

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

Implements roboticslab::ISimulation.

stop()

bool YarpOpenraveSimulation::stop ( )

overridevirtual

Stops the simulation.

Returns

true/false

Implements roboticslab::ISimulation.

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

• libraries/YarpPlugins/YarpOpenraveSimulation/YarpOpenraveSimulation.hpp
• libraries/YarpPlugins/YarpOpenraveSimulation/DeviceDriverImpl.cpp
• libraries/YarpPlugins/YarpOpenraveSimulation/ISimulationImpl.cpp