Model class More...

#include <stage.hh>

Inheritance diagram for Stg::Model:

Classes
class	cb_t
class	Flag
class	GuiState
class	RasterVis
class	TrailItem
class	Visibility
Public Types
enum	callback_type_t { CB_FLAGDECR, CB_FLAGINCR, CB_GEOM, CB_INIT, CB_LOAD, CB_PARENT, CB_POSE, CB_SAVE, CB_SHUTDOWN, CB_STARTUP, CB_UPDATE, CB_VELOCITY, __CB_TYPE_COUNT }
Public Member Functions
Block *	AddBlockRect (meters_t x, meters_t y, meters_t dx, meters_t dy, meters_t dz)
void	AddCallback (callback_type_t type, model_callback_t cb, void *user)
void	AddFlag (Flag *flag)
void	AddToPose (const Pose &pose)
void	AddToPose (double dx, double dy, double dz, double da)
void	AddVisualizer (Visualizer *custom_visual, bool on_by_default)
void	BecomeParentOf (Model *child)
int	CallCallbacks (callback_type_t type)
void	ClearBlocks ()
bool	DataIsFresh () const
void	Disable ()
void	Enable ()
PowerPack *	FindPowerPack () const
Model *	GetChild (const std::string &name) const
Color	GetColor () const
usec_t	GetEnergyInterval () const
int	GetFiducialReturn () const
unsigned int	GetFlagCount () const
Geom	GetGeom () const
Pose	GetGlobalPose () const
Velocity	GetGlobalVelocity () const
uint32_t	GetId () const
usec_t	GetInterval ()
kg_t	GetMassOfChildren () const
const std::string &	GetModelType () const
Pose	GetPose () const
std::string	GetSayString ()
unsigned int	GetSubscriptionCount () const
kg_t	GetTotalMass () const
Model *	GetUnsubscribedModelOfType (const std::string &type) const
Model *	GetUnusedModelOfType (const std::string &type)
usec_t	GetUpdateInterval () const
World *	GetWorld () const
Pose	GlobalToLocal (const Pose &pose) const
bool	HasSubscribers () const
void	InitControllers ()
bool	IsAntecedent (const Model *testmod) const
bool	IsDescendent (const Model *testmod) const
bool	IsRelated (const Model *testmod) const
void	Load (Worldfile *wf, int wf_entity)
virtual void	Load ()
void	LoadBlock (Worldfile *wf, int entity)
void	LoadControllerModule (const char *lib)
Pose	LocalToGlobal (const Pose &pose) const
point_t	LocalToGlobal (const point_t &pt) const
std::vector< point_int_t >	LocalToPixels (const std::vector< point_t > &local) const
	Model (World world, Model parent=NULL, const std::string &type="model", const std::string &name="")
	Model ()
void	NeedRedraw ()
Model *	Parent () const
void	PlaceInFreeSpace (meters_t xmin, meters_t xmax, meters_t ymin, meters_t ymax)
virtual void	PopColor ()
Flag *	PopFlag ()
std::string	PoseString ()
virtual void	Print (char *prefix) const
virtual const char *	PrintWithPose () const
virtual void	PushColor (Color col)
virtual void	PushColor (double r, double g, double b, double a)
void	PushFlag (Flag *flag)
void	Rasterize (uint8_t *data, unsigned int width, unsigned int height, meters_t cellwidth, meters_t cellheight)
void	Redraw ()
int	RemoveCallback (callback_type_t type, model_callback_t callback)
void	RemoveFlag (Flag *flag)
void	RemoveVisualizer (Visualizer *custom_visual)
Model *	Root ()
virtual void	Save ()
void	Say (const std::string &str)
void	SetBlobReturn (bool val)
void	SetBoundary (bool val)
void	SetColor (Color col)
void	SetFiducialKey (int key)
void	SetFiducialReturn (int fid)
void	SetFriction (double friction)
void	SetGeom (const Geom &src)
void	SetGlobalPose (const Pose &gpose)
void	SetGlobalVelocity (const Velocity &gvel)
void	SetGravityReturn (bool val)
void	SetGripperReturn (bool val)
void	SetGuiGrid (bool val)
void	SetGuiMove (bool val)
void	SetGuiNose (bool val)
void	SetGuiOutline (bool val)
void	SetMapResolution (meters_t res)
void	SetMass (kg_t mass)
void	SetObstacleReturn (bool val)
int	SetParent (Model *newparent)
void	SetPose (const Pose &pose)
void	SetRangerReturn (double val)
void	SetRangerReturn (bool val)
void	SetStall (bool stall)
void	SetStickyReturn (bool val)
virtual void	SetToken (const std::string &str)
void	SetWatts (watts_t watts)
void	SetWorldfile (Worldfile *wf, int wf_entity)
bool	Stalled () const
void	Subscribe ()
void	Unsubscribe ()
virtual	~Model ()
Static Public Member Functions
static Model *	LookupId (uint32_t id)
Public Attributes
class Stg::Model::Visibility	vis
Static Public Attributes
static std::map< std::string, creator_t >	name_map
Protected Member Functions
void	AppendTouchingModels (std::set< Model * > &touchers)
void	CallUpdateCallbacks (void)
void	CommitTestedPose ()
virtual void	DataVisualize (Camera *cam)
void	DataVisualizeTree (Camera *cam)
virtual void	DrawBlocks ()
void	DrawBlocksTree ()
void	DrawBoundingBox ()
void	DrawBoundingBoxTree ()
void	DrawFlagList ()
void	DrawGrid ()
void	DrawImage (uint32_t texture_id, Camera *cam, float alpha, double width=1.0, double height=1.0)
void	DrawOrigin ()
void	DrawOriginTree ()
virtual void	DrawPicker ()
void	DrawPose (Pose pose)
virtual void	DrawSelected (void)
virtual void	DrawStatus (Camera *cam)
void	DrawStatusTree (Camera *cam)
void	DrawTrailArrows ()
void	DrawTrailBlocks ()
void	DrawTrailFootprint ()
void	Map (unsigned int layer)
void	Map ()
void	MapFromRoot (unsigned int layer)
void	MapWithChildren (unsigned int layer)
meters_t	ModelHeight () const
void	PopCoords ()
void	PushLocalCoords ()
RaytraceResult	Raytrace (const Pose &pose, const meters_t range, const ray_test_func_t func, const void *arg, const bool ztest=true)
void	Raytrace (const Pose &pose, const meters_t range, const radians_t fov, const ray_test_func_t func, const void arg, RaytraceResult samples, const uint32_t sample_count, const bool ztest=true)
RaytraceResult	Raytrace (const radians_t bearing, const meters_t range, const ray_test_func_t func, const void *arg, const bool ztest=true)
void	Raytrace (const radians_t bearing, const meters_t range, const radians_t fov, const ray_test_func_t func, const void arg, RaytraceResult samples, const uint32_t sample_count, const bool ztest=true)
void	RegisterOption (Option *opt)
virtual void	Shutdown ()
virtual void	Startup ()
Model *	TestCollision ()
void	UnMap (unsigned int layer)
void	UnMap ()
void	UnMapFromRoot (unsigned int layer)
void	UnMapWithChildren (unsigned int layer)
virtual void	Update ()
virtual void	UpdateCharge ()
void	UpdateTrail ()
Static Protected Member Functions
static int	UpdateWrapper (Model mod, void arg)
Protected Attributes
bool	alwayson
BlockGroup	blockgroup
int	blocks_dl
int	boundary
std::vector< std::set< cb_t > >	callbacks
Color	color
std::list< Visualizer * >	cv_list
bool	data_fresh
bool	disabled
unsigned int	event_queue_num
std::list< Flag * >	flag_list
double	friction
Geom	geom
class Stg::Model::GuiState	gui
bool	has_default_block
uint32_t	id
usec_t	interval
	time between updates in usec
usec_t	interval_energy
	time between updates of powerpack in usec
usec_t	last_update
	time of last update in us
bool	log_state
	iff true, model state is logged
meters_t	map_resolution
kg_t	mass
Model *	parent
Pose	pose
PowerPack *	power_pack
std::list< PowerPack * >	pps_charging
Stg::Model::RasterVis	rastervis
bool	rebuild_displaylist
	iff true, regenerate block display list before redraw
std::string	say_string
	if non-empty, this string is displayed in the GUI
bool	stack_children
	whether child models should be stacked on top of this model or not
bool	stall
	Set to true iff the model collided with something else.
int	subs
	the number of subscriptions to this model
bool	thread_safe
std::vector< TrailItem >	trail
unsigned int	trail_index
const std::string	type
bool	used
	TRUE iff this model has been returned by GetUnusedModelOfType()
watts_t	watts
	power consumed by this model
watts_t	watts_give
watts_t	watts_take
Worldfile *	wf
int	wf_entity
World *	world
WorldGui *	world_gui
Static Protected Attributes
static uint64_t	trail_interval
static unsigned int	trail_length

Detailed Description

Model class

Member Enumeration Documentation

enum Stg::Model::callback_type_t

Enumerator:

CB_FLAGDECR
CB_FLAGINCR
CB_GEOM
CB_INIT
CB_LOAD
CB_PARENT
CB_POSE
CB_SAVE
CB_SHUTDOWN
CB_STARTUP
CB_UPDATE
CB_VELOCITY
__CB_TYPE_COUNT

Constructor & Destructor Documentation

Model::Model	(	World *	world,
		Model *	parent = `NULL`,
		const std::string &	type = `"model"`,
		const std::string &	name = `""`
	)

Constructor

Model::~Model ( void ) [virtual]

Destructor

Stg::Model::Model ( ) [inline]

Alternate constructor that creates dummy models with only a pose

Member Function Documentation

Block * Model::AddBlockRect	(	meters_t	x,
		meters_t	y,
		meters_t	dx,
		meters_t	dy,
		meters_t	dz
	)

Add a block to this model centered at [x,y] with extent [dx, dy, dz]

void Model::AddCallback	(	callback_type_t	type,
		model_callback_t	cb,
		void *	user
	)

Add a callback. The specified function is called whenever the indicated model method is called, and passed the user data.

Parameters:

cb	Pointer the function to be called.
user	Pointer to arbitrary user data, passed to the callback when called.

void Model::AddFlag ( Flag * flag )

void Model::AddToPose ( const Pose & pose )

add values to a model's pose in its parent's coordinate system

void Model::AddToPose	(	double	dx,
		double	dy,
		double	dz,
		double	da
	)

add values to a model's pose in its parent's coordinate system

void Model::AddVisualizer	(	Visualizer *	custom_visual,
		bool	on_by_default
	)

Attach a user supplied visualization to a model.

void Model::AppendTouchingModels ( std::set< Model * > & touchers ) [protected]

void Model::BecomeParentOf ( Model * child )

int Model::CallCallbacks ( callback_type_t type )

void Model::CallUpdateCallbacks ( void ) [protected]

Calls CallCallback( CB_UPDATE )

void Model::ClearBlocks ( )

remove all blocks from this model, freeing their memory

void Stg::Model::CommitTestedPose ( ) [protected]

bool Stg::Model::DataIsFresh ( ) const [inline]

void Model::DataVisualize ( Camera * cam ) [protected, virtual]

Reimplemented in Stg::ModelCamera, and Stg::ModelBlinkenlight.

void Model::DataVisualizeTree ( Camera * cam ) [protected]

void Stg::Model::Disable ( ) [inline]

Disable the model. Its pose will not change due to velocity until re-enabled using Enable(). This is used for example when dragging a model with the mouse pointer. The model is enabled by default.

void Model::DrawBlocks ( ) [protected, virtual]

Reimplemented in Stg::ModelLightIndicator.

void Model::DrawBlocksTree ( ) [protected]

void Model::DrawBoundingBox ( ) [protected]

void Model::DrawBoundingBoxTree ( ) [protected]

void Model::DrawFlagList ( void ) [protected]

void Model::DrawGrid ( void ) [protected]

void Model::DrawImage	(	uint32_t	texture_id,
		Camera *	cam,
		float	alpha,
		double	width = `1.0`,
		double	height = `1.0`
	)		`[protected]`

Draw the image stored in texture_id above the model

void Stg::Model::DrawOrigin ( ) [protected]

void Model::DrawOriginTree ( ) [protected]

void Model::DrawPicker ( void ) [protected, virtual]

void Model::DrawPose ( Pose pose ) [protected]

void Model::DrawSelected ( void ) [protected, virtual]

void Model::DrawStatus ( Camera * cam ) [protected, virtual]

void Model::DrawStatusTree ( Camera * cam ) [protected]

void Model::DrawTrailArrows ( ) [protected]

void Model::DrawTrailBlocks ( ) [protected]

void Model::DrawTrailFootprint ( ) [protected]

void Stg::Model::Enable ( ) [inline]

Enable the model, so that non-zero velocities will change the model's pose. Models are enabled by default.

PowerPack * Model::FindPowerPack ( ) const

Model * Model::GetChild ( const std::string & name ) const

Returns a pointer to the model identified by name, or NULL if it doesn't exist in this model.

Color Stg::Model::GetColor ( ) const [inline]

usec_t Stg::Model::GetEnergyInterval ( ) const [inline]

int Stg::Model::GetFiducialReturn ( ) const [inline]

Get a model's fiducial return value.

unsigned int Stg::Model::GetFlagCount ( ) const [inline]

Geom Stg::Model::GetGeom ( ) const [inline]

Get (a copy of) the model's geometry - it's size and local pose (offset from origin in local coords).

Pose Model::GetGlobalPose ( ) const [virtual]

get the pose of a model in the global CS

Reimplemented from Stg::Ancestor.

Velocity Stg::Model::GetGlobalVelocity ( ) const

get the velocity of a model in the global CS

uint32_t Stg::Model::GetId ( ) const [inline]

return a model's unique process-wide identifier

usec_t Stg::Model::GetInterval ( ) [inline]

return the update interval in usec

kg_t Model::GetMassOfChildren ( ) const

Get the mass of this model's children recursively.

const std::string& Stg::Model::GetModelType ( ) const [inline]

Pose Stg::Model::GetPose ( ) const [inline]

Get (a copy of) the pose of a model in its parent's coordinate system.

std::string Stg::Model::GetSayString ( ) [inline]

unsigned int Stg::Model::GetSubscriptionCount ( ) const [inline]

Returns the current number of subscriptions. If alwayson, this is never less than 1.

kg_t Model::GetTotalMass ( ) const

Get the total mass of a model and it's children recursively

Model * Model::GetUnsubscribedModelOfType ( const std::string & type ) const

returns the first descendent of this model that is unsubscribed and has the type indicated by the string

Model * Model::GetUnusedModelOfType ( const std::string & type )

returns the first descendent of this model that is unused and has the type indicated by the string. This model is tagged as used.

usec_t Stg::Model::GetUpdateInterval ( ) const [inline]

World* Stg::Model::GetWorld ( ) const [inline]

Returns a pointer to the world that contains this model

Pose Model::GlobalToLocal ( const Pose & pose ) const

Given a global pose, returns that pose in the model's local coordinate system.

bool Stg::Model::HasSubscribers ( ) const [inline]

Returns true if the model has one or more subscribers, else false.

void Model::InitControllers ( )

Call Init() for all attached controllers.

bool Model::IsAntecedent ( const Model * testmod ) const

bool Model::IsDescendent ( const Model * testmod ) const

returns true if model [testmod] is a descendent of this model

bool Model::IsRelated ( const Model * testmod ) const

returns true if model [testmod] is a descendent or antecedent of this model

void Stg::Model::Load	(	Worldfile *	wf,
		int	wf_entity
	)		`[inline]`

Set the worldfile and worldfile entity ID - must be called before Load()

Reimplemented from Stg::Ancestor.

void Model::Load ( void ) [virtual]

configure a model by reading from the current world file

Reimplemented in Stg::ModelActuator, Stg::ModelPosition, Stg::ModelCamera, Stg::ModelBlinkenlight, Stg::ModelRanger, Stg::ModelFiducial, Stg::ModelGripper, and Stg::ModelBlobfinder.

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

Add a block to this model by loading it from a worldfile entity

void Model::LoadControllerModule ( const char * lib )

Load a control program for this model from an external library

Pose Stg::Model::LocalToGlobal ( const Pose & pose ) const [inline]

Return the global pose (i.e. pose in world coordinates) of a pose specified in the model's local coordinate system

point_t Model::LocalToGlobal ( const point_t & pt ) const

Return the 2d point in world coordinates of a 2d point specified in the model's local coordinate system

std::vector< point_int_t > Model::LocalToPixels ( const std::vector< point_t > & local ) const

Return a vector of global pixels corresponding to a vector of local points.

static Model* Stg::Model::LookupId ( uint32_t id ) [inline, static]

Look up a model pointer by a unique model ID

void Model::Map ( unsigned int layer ) [protected]

void Stg::Model::Map ( ) [inline, protected]

Call Map on all layers

void Model::MapFromRoot ( unsigned int layer ) [protected]

void Model::MapWithChildren ( unsigned int layer ) [protected]

meters_t Model::ModelHeight ( ) const [protected]

void Model::NeedRedraw ( void )

Sets the redraw flag, so this model will be redrawn at the earliest opportunity

Model* Stg::Model::Parent ( ) const [inline]

Returns a pointer to this model's parent model, or NULL if this model has no parent

void Model::PlaceInFreeSpace	(	meters_t	xmin,
		meters_t	xmax,
		meters_t	ymin,
		meters_t	ymax
	)

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

void Model::PopCoords ( ) [protected]

Model::Flag * Model::PopFlag ( )

std::string Stg::Model::PoseString ( ) [inline]

Return a human-readable string describing the model's pose

void Model::Print ( char * prefix ) const [virtual]

Reimplemented in Stg::ModelRanger.

const char * Model::PrintWithPose ( ) const [virtual]

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

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

void Model::PushFlag ( Flag * flag )

void Model::PushLocalCoords ( ) [protected]

void Model::Rasterize	(	uint8_t *	data,
		unsigned int	width,
		unsigned int	height,
		meters_t	cellwidth,
		meters_t	cellheight
	)

Render the model's blocks as an occupancy grid into the preallocated array of width by height pixels

RaytraceResult Model::Raytrace	(	const Pose &	pose,
		const meters_t	range,
		const ray_test_func_t	func,
		const void *	arg,
		const bool	ztest = `true`
	)		`[protected]`

raytraces a single ray from the point and heading identified by pose, in local coords

void Stg::Model::Raytrace	(	const Pose &	pose,
		const meters_t	range,
		const radians_t	fov,
		const ray_test_func_t	func,
		const void *	arg,
		RaytraceResult *	samples,
		const uint32_t	sample_count,
		const bool	ztest = `true`
	)		`[protected]`

raytraces multiple rays around the point and heading identified by pose, in local coords

RaytraceResult Model::Raytrace	(	const radians_t	bearing,
		const meters_t	range,
		const ray_test_func_t	func,
		const void *	arg,
		const bool	ztest = `true`
	)		`[protected]`

void Model::Raytrace	(	const radians_t	bearing,
		const meters_t	range,
		const radians_t	fov,
		const ray_test_func_t	func,
		const void *	arg,
		RaytraceResult *	samples,
		const uint32_t	sample_count,
		const bool	ztest = `true`
	)		`[protected]`

void Model::Redraw ( void )

Force the GUI (if any) to redraw this model

void Model::RegisterOption ( Option * opt ) [protected]

Register an Option for pickup by the GUI.

int Model::RemoveCallback	(	callback_type_t	type,
		model_callback_t	callback
	)

void Model::RemoveFlag ( Flag * flag )

void Model::RemoveVisualizer ( Visualizer * custom_visual )

remove user supplied visualization to a model - supply the same ptr passed to AddCustomVisualizer

Model* Stg::Model::Root ( ) [inline]

return the root model of the tree containing this model

void Model::Save ( void ) [virtual]

save the state of the model to the current world file

Reimplemented in Stg::ModelGripper.

void Model::Say ( const std::string & str )

void Model::SetBlobReturn ( bool val )

void Model::SetBoundary ( bool val )

void Model::SetColor ( Color col )

void Model::SetFiducialKey ( int key )

set a model's fiducial key: only fiducial finders with a matching key can detect this model as a fiducial.

void Model::SetFiducialReturn ( int fid )

Set a model's fiducial return value. Values less than zero are not detected by the fiducial sensor.

void Model::SetFriction ( double friction )

void Model::SetGeom ( const Geom & src )

set a model's geometry (size and center offsets)

void Model::SetGlobalPose ( const Pose & gpose )

set the pose of model in global coordinates

void Stg::Model::SetGlobalVelocity ( const Velocity & gvel )

void Stg::Model::SetGravityReturn ( bool val )

void Model::SetGripperReturn ( bool val )

void Model::SetGuiGrid ( bool val )

void Model::SetGuiMove ( bool val )

void Model::SetGuiNose ( bool val )

void Model::SetGuiOutline ( bool val )

void Model::SetMapResolution ( meters_t res )

void Model::SetMass ( kg_t mass )

void Model::SetObstacleReturn ( bool val )

int Model::SetParent ( Model * newparent )

Change a model's parent - experimental

void Model::SetPose ( const Pose & pose )

Enable update of model pose according to velocity state Disable update of model pose according to velocity state set a model's pose in its parent's coordinate system

void Model::SetRangerReturn ( double val )

void Stg::Model::SetRangerReturn ( bool val )

void Model::SetStall ( bool stall )

void Stg::Model::SetStickyReturn ( bool val )

virtual void Stg::Model::SetToken ( const std::string & str ) [inline, virtual]

Reimplemented from Stg::Ancestor.

void Model::SetWatts ( watts_t watts )

void Stg::Model::SetWorldfile	(	Worldfile *	wf,
		int	wf_entity
	)		`[inline]`

Set the worldfile and worldfile entity ID

void Model::Shutdown ( void ) [protected, virtual]

Reimplemented in Stg::ModelActuator, Stg::ModelPosition, Stg::ModelRanger, Stg::ModelFiducial, and Stg::ModelBlobfinder.

bool Stg::Model::Stalled ( ) const [inline]

Returns the value of the model's stall boolean, which is true iff the model has crashed into another model

void Model::Startup ( void ) [protected, virtual]

Reimplemented in Stg::ModelActuator, Stg::ModelPosition, Stg::ModelRanger, and Stg::ModelBlobfinder.

void Model::Subscribe ( void )

subscribe to a model's data

Model * Model::TestCollision ( ) [protected]

Check to see if the current pose will yield a collision with obstacles. Returns a pointer to the first entity we are in collision with, or NULL if no collision exists. Recursively calls TestCollision() on all descendents.

void Model::UnMap ( unsigned int layer ) [protected]

void Stg::Model::UnMap ( ) [inline, protected]

Call UnMap on all layers

void Model::UnMapFromRoot ( unsigned int layer ) [protected]

void Model::UnMapWithChildren ( unsigned int layer ) [protected]

void Model::Unsubscribe ( void )

unsubscribe from a model's data

void Model::Update ( void ) [protected, virtual]

Reimplemented in Stg::ModelActuator, Stg::ModelPosition, Stg::ModelCamera, Stg::ModelBlinkenlight, Stg::ModelRanger, and Stg::ModelBlobfinder.

void Model::UpdateCharge ( ) [protected, virtual]

void Model::UpdateTrail ( ) [protected]

Record the current pose in our trail. Delete the trail head if it is full.

static int Stg::Model::UpdateWrapper	(	Model *	mod,
		void *	arg
	)		`[inline, static, protected]`

Member Data Documentation

bool Stg::Model::alwayson [protected]

If true, the model always has at least one subscription, so always runs. Defaults to false.

BlockGroup Stg::Model::blockgroup [protected]

int Stg::Model::blocks_dl [protected]

OpenGL display list identifier for the blockgroup

int Stg::Model::boundary [protected]

Iff true, 4 thin blocks are automatically added to the model, forming a solid boundary around the bounding box of the model.

std::vector<std::set<cb_t> > Stg::Model::callbacks [protected]

A list of callback functions can be attached to any address. When Model::CallCallbacks( void*) is called, the callbacks are called.

Color Stg::Model::color [protected]

Default color of the model's blocks.

std::list<Visualizer*> Stg::Model::cv_list [protected]

Container for Visualizers attached to this model.

bool Stg::Model::data_fresh [protected]

This can be set to indicate that the model has new data that may be of interest to users. This allows polling the model instead of adding a data callback.

bool Stg::Model::disabled [protected]

If set true, Update() is not called on this model. Useful e.g. for temporarily disabling updates when dragging models with the mouse.

unsigned int Stg::Model::event_queue_num [protected]

The index into the world's vector of event queues. Initially -1, to indicate that it is not on a list yet.

std::list<Flag*> Stg::Model::flag_list [protected]

Container for flags attached to this model.

double Stg::Model::friction [protected]

Model the interaction between the model's blocks and the surface they touch.

Todo:: primitive at the moment

Geom Stg::Model::geom [protected]

Specifies the the size of this model's bounding box, and the offset of its local coordinate system wrt that its parent.

class Stg::Model::GuiState Stg::Model::gui [protected]

bool Stg::Model::has_default_block [protected]

uint32_t Stg::Model::id [protected]

unique process-wide identifier for this model

usec_t Stg::Model::interval [protected]

time between updates in usec

usec_t Stg::Model::interval_energy [protected]

time between updates of powerpack in usec

usec_t Stg::Model::last_update [protected]

time of last update in us

bool Stg::Model::log_state [protected]

iff true, model state is logged

meters_t Stg::Model::map_resolution [protected]

kg_t Stg::Model::mass [protected]

std::map< std::string, creator_t > Model::name_map [static]

Model* Stg::Model::parent [protected]

Pointer to the parent of this model, possibly NULL.

Pose Stg::Model::pose [protected]

The pose of the model in it's parents coordinate frame, or the global coordinate frame is the parent is NULL.

PowerPack* Stg::Model::power_pack [protected]

Optional attached PowerPack, defaults to NULL

std::list<PowerPack*> Stg::Model::pps_charging [protected]

list of powerpacks that this model is currently charging, initially NULL.

Stg::Model::RasterVis Stg::Model::rastervis [protected]

bool Stg::Model::rebuild_displaylist [protected]

iff true, regenerate block display list before redraw

std::string Stg::Model::say_string [protected]

if non-empty, this string is displayed in the GUI

bool Stg::Model::stack_children [protected]

whether child models should be stacked on top of this model or not

bool Stg::Model::stall [protected]

Set to true iff the model collided with something else.

int Stg::Model::subs [protected]

the number of subscriptions to this model

bool Stg::Model::thread_safe [protected]

Thread safety flag. Iff true, Update() may be called in parallel with other models. Defaults to false for safety. Derived classes can set it true in their constructor to allow parallel Updates().

std::vector<TrailItem> Stg::Model::trail [protected]

a ring buffer for storing recent poses

unsigned int Stg::Model::trail_index [protected]

current position in the ring buffer

uint64_t Model::trail_interval [static, protected]

Number of world updates between trail records.

uint32_t Model::trail_length [static, protected]

The maxiumum length of the trail drawn. Default is 20, but can be set in the world file using the tail_length model property.

const std::string Stg::Model::type [protected]

bool Stg::Model::used [protected]

TRUE iff this model has been returned by GetUnusedModelOfType()

class Stg::Model::Visibility Stg::Model::vis