World class More...

#include <stage.hh>

Inheritance diagram for Stg::World:

Classes
class	Event
struct	ltx
struct	lty
Public Member Functions
virtual void	AddModel (Model *mod)
void	AddModelName (Model *mod, const std::string &name)
void	AddPowerPack (PowerPack *pp)
SuperRegion *	AddSuperRegion (const point_int_t &coord)
void	AddUpdateCallback (world_callback_t cb, void *user)
void	CancelQuit ()
void	CancelQuitAll ()
void	ClearRays ()
virtual std::string	ClockString (void) const
void	ConsumeQueue (unsigned int queue_num)
Model *	CreateModel (Model *parent, const std::string &typestr)
SuperRegion *	CreateSuperRegion (point_int_t origin)
void	DestroySuperRegion (SuperRegion *sr)
void	DisableEnergy (Model *m)
void	EnableEnergy (Model *m)
void	Enqueue (unsigned int queue_num, usec_t delay, Model mod, model_callback_t cb, void arg)
void	Extend (point3_t pt)
const std::set< Model * >	GetAllModels () const
unsigned int	GetEventQueue (Model *mod) const
const bounds3d_t &	GetExtent () const
Model *	GetGround ()
Model *	GetModel (const std::string &name) const
SuperRegion *	GetSuperRegion (const point_int_t &org)
SuperRegion *	GetSuperRegionCreate (const point_int_t &org)
uint64_t	GetUpdateCount () const
Worldfile *	GetWorldFile ()
virtual bool	IsGUI () const
virtual void	Load (const std::string &worldfile_path)
void	LoadBlock (Worldfile *wf, int entity)
void	LoadBlockGroup (Worldfile *wf, int entity)
void	LoadModel (Worldfile *wf, int entity)
void	LoadSensor (Worldfile *wf, int entity)
void	Log (Model *mod)
void	MapPoly (const std::vector< point_int_t > &poly, Block *block, unsigned int layer)
int32_t	MetersToPixels (meters_t x) const
point_int_t	MetersToPixels (const point_t &pt) const
void	NeedRedraw ()
bool	PastQuitTime ()
bool	Paused () const
virtual void	PopColor ()
virtual void	PushColor (Color col)
virtual void	PushColor (double r, double g, double b, double a)
void	Quit ()
void	QuitAll ()
RaytraceResult	Raytrace (const Ray &ray)
RaytraceResult	Raytrace (const Pose &pose, const meters_t range, const ray_test_func_t func, const Model finder, const void arg, const bool ztest)
void	Raytrace (const Pose &pose, const meters_t range, const radians_t fov, const ray_test_func_t func, const Model finder, const void arg, RaytraceResult *samples, const uint32_t sample_count, const bool ztest)
virtual Model *	RecentlySelectedModel () const
void	RecordRay (double x1, double y1, double x2, double y2)
virtual void	Redraw (void)
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 (world_callback_t cb, void *user)
double	Resolution () const
virtual bool	Save (const char *filename)
void	ShowClock (bool enable)
	Control printing time to stdout.
usec_t	SimTimeNow (void) const
virtual void	Start ()
virtual void	Stop ()
bool	TestQuit () const
virtual void	TogglePause ()
void	TryCharge (PowerPack *pp, const Pose &pose)
virtual void	UnLoad ()
virtual bool	Update (void)
uint64_t	UpdateCount ()
	World (const std::string &name="MyWorld", double ppm=DEFAULT_PPM)
virtual	~World ()
Static Public Member Functions
static void	Run ()
static void *	update_thread_entry (std::pair< World , int > info)
static bool	UpdateAll ()
Public Attributes
std::set< Model * >	active_energy
std::set< ModelPosition * >	active_velocity
std::vector < std::priority_queue< Event > >	event_queues
Model *	ground
bool	paused
	if true, the simulation is stopped
std::vector< std::queue< Model * > >	pending_update_callbacks
std::vector< point_int_t >	rt_candidate_cells
std::vector< point_int_t >	rt_cells
usec_t	sim_interval
int	update_cb_count
Static Public Attributes
static std::vector< std::string >	args
static std::string	ctrlargs
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 < world_callback_t, void * > >	cb_list
	List of callback functions and arguments.
bounds3d_t	extent
	Describes the 3D volume of the world.
bool	graphics
	true iff we have a GUI
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.
usec_t	quit_time
std::list< float * >	ray_list
	List of rays traced for debug visualization.
usec_t	sim_time
	the current sim time in this world in microseconds
std::map< point_int_t, SuperRegion * >	superregions
std::vector< std::vector < Model * > >	update_lists
uint64_t	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 std::string &	name = `"MyWorld"`,
		double	ppm = `DEFAULT_PPM`
	)

World::~World ( void ) [virtual]

Member Function Documentation

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

void World::AddModelName	(	Model *	mod,
		const std::string &	name
	)

void World::AddPowerPack ( PowerPack * pp )

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

void World::AddUpdateCallback	(	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]

Cancel a local quit request.

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

Cancel a global quit request.

void World::ClearRays ( )

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

Get human readable string that describes the current simulation time.

Reimplemented in Stg::WorldGui.

void World::ConsumeQueue ( unsigned int queue_num )

consume events from the queue up to and including the current sim_time

Model * World::CreateModel	(	Model *	parent,
		const std::string &	typestr
	)

SuperRegion * World::CreateSuperRegion ( point_int_t origin )

void World::DestroySuperRegion ( SuperRegion * sr )

void Stg::World::DisableEnergy ( Model * m ) [inline]

void Stg::World::EnableEnergy ( Model * m ) [inline]

void Stg::World::Enqueue	(	unsigned int	queue_num,
		usec_t	delay,
		Model *	mod,
		model_callback_t	cb,
		void *	arg
	)		`[inline]`

Create a new simulation event to be handled in the future.

Parameters:

queue_num	Specify which queue the event should be on. The main thread is 0.
delay	The time from now until the event occurs, in microseconds.
mod	The model that should have its Update() method called at the specified time.

void World::Extend ( point3_t pt ) [inline]

Enlarge the bounding volume to include this point

const std::set<Model*> Stg::World::GetAllModels ( ) const [inline]

Returns a const reference to the set of models in the world.

unsigned int World::GetEventQueue ( Model * mod ) const

returns an event queue index number for a model to use for updates

const bounds3d_t& Stg::World::GetExtent ( ) const [inline]

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

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

Return the floor model

Model * World::GetModel ( const std::string & name ) const

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

SuperRegion * World::GetSuperRegion ( const point_int_t & org ) [inline]

SuperRegion * World::GetSuperRegionCreate ( const point_int_t & org ) [inline]

uint64_t Stg::World::GetUpdateCount ( ) const [inline]

Return the number of times the world has been updated.

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

Returns a pointer to the currently-open worlddfile object, or NULL if there is none.

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

Returns true iff this World implements a GUI. The base World class returns false, but subclasses can override this behaviour.

Reimplemented in Stg::WorldGui.

void World::Load ( const std::string & worldfile_path ) [virtual]

Open the file at the specified location, create a Worldfile object, read the file and configure the world from the contents, creating models as necessary. The created object persists, and can be retrieved later with World::GetWorldFile().

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::LoadSensor	(	Worldfile *	wf,
		int	entity
	)

void World::Log ( Model * mod )

Log the state of a Model

void World::MapPoly	(	const std::vector< point_int_t > &	poly,
		Block *	block,
		unsigned int	layer
	)

call Cell::AddBlock(block) for each cell on the polygon

int32_t Stg::World::MetersToPixels ( meters_t x ) const [inline]

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

point_int_t Stg::World::MetersToPixels ( const point_t & pt ) const [inline]

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 ( ) const [inline]

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

Reimplemented in Stg::WorldGui.

virtual void Stg::World::PushColor ( Color col ) [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.

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

Request the world quits simulation before the next timestep.

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

Requests all worlds quit simulation before the next timestep.

RaytraceResult World::Raytrace ( const Ray & ray )

trace a ray.

RaytraceResult World::Raytrace	(	const Pose &	pose,
		const meters_t	range,
		const ray_test_func_t	func,
		const Model *	finder,
		const void *	arg,
		const bool	ztest
	)

void World::Raytrace	(	const Pose &	pose,
		const meters_t	range,
		const radians_t	fov,
		const ray_test_func_t	func,
		const Model *	finder,
		const void *	arg,
		RaytraceResult *	samples,
		const uint32_t	sample_count,
		const bool	ztest
	)

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

Reimplemented in Stg::WorldGui.

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

store rays traced for debugging purposes

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

Force the GUI to redraw the world, even if paused. This imlementation does nothing, but can be overridden by subclasses.

Reimplemented in Stg::WorldGui.

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	(	world_callback_t	cb,
		void *	user
	)

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

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

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

void World::Run ( ) [static]

run all worlds. If only non-gui worlds were created, UpdateAll() is repeatedly called. To simulate a gui world only a single gui world may have been created. This world is then simulated.

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

Save the current world state into a worldfile with the given filename.

Parameters:

Filename to save as.

Reimplemented in Stg::WorldGui.

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

Control printing time to stdout.

usec_t Stg::World::SimTimeNow ( void ) const [inline]

Returns the current simulated time in this world, in microseconds.

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

Reimplemented in Stg::WorldGui.

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