hormodular::SimulationOpenRAVE Class Reference

Class wrapping all the components of a OpenRAVE simulation. More...

#include <SimulationOpenRAVE.hpp>

List of all members.

Public Member Functions
	SimulationOpenRAVE (std::string environment_file, bool show_simulation=true)
	Creates a SimulationOpenRAVE using the environment defined in the environment_file.
	~SimulationOpenRAVE ()
void	init ()
	Loads the environment and sets everything needed.
OpenRAVE::EnvironmentBasePtr	getPenv () const
std::vector < OpenRAVE::RobotBasePtr >	getRobots () const
OpenRAVE::RobotBasePtr	getRobot (int index=0) const
void	showViewer ()
	Starts the dedicated thread for the viewer and calls the startViewer function to create a viewer.
void	start (OpenRAVE::dReal step_period, bool real_time=true)
	Starts the simulation with a given period (in s) that can be run in real time.
void	stop ()
	Stops the simulation.
void	step (OpenRAVE::dReal step_period)
	Advances the simulation only a step of the specified duration.
void	reset ()
	Resets the simulation, reloading the environment, robots and controllers.
Private Member Functions
void	startViewer ()
	Creates a viewer and attaches it to the environment.
Private Attributes
std::string	environment_file
OpenRAVE::EnvironmentBasePtr	penv
OpenRAVE::ViewerBasePtr	pviewer
boost::thread *	pthviewer
std::vector < OpenRAVE::RobotBasePtr >	robots
bool	show_simulation

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Detailed Description

Class wrapping all the components of a OpenRAVE simulation.

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

• SimulationOpenRAVE.hpp
• SimulationOpenRAVE.cpp