RestingPoseGenerator Class Reference

finds resting poses of a dynamic scene. More...

#include <RestingPoseGenerator.hpp>

Public Types
typedef boost::function< void(const rw::kinematics::State &)>	RestingPoseCallback
typedef boost::function< void(const rw::kinematics::State &)>	UpdateEventCallback

Public Member Functions
	RestingPoseGenerator (rw::core::Ptr< rwsim::simulator::DynamicSimulator > sim, const rw::kinematics::State &initState, rw::core::Ptr< SimStateConstraint > restConstraint)
	RestingPoseGenerator (rw::core::Ptr< rwsim::simulator::DynamicSimulator > sim, const rw::kinematics::State &initState, rw::core::Ptr< StateSampler > sampler, rw::core::Ptr< SimStateConstraint > restConstraint)
virtual	~RestingPoseGenerator ()
	destructor
void	setInitStateSample (rw::core::Ptr< StateSampler > sampler)
	set the sampler used for initial state More...
void	setRestingCriteria (rw::core::Ptr< SimStateConstraint > restconstraint)
	resting state contraint More...
void	setResultCallback (RestingPoseCallback callback)
	set the callback for when a resting pose is found. More...
void	setUpdateEventCallback (UpdateEventCallback callback)
	set the callback for when a simulation step has been carried out. More...
void	start (int nrOfTests)
	start resting pose generation More...
void	proceed ()
	pause the execution
void	stop ()
	stop the execution
bool	isFinished ()
	the generator is finished if the specified nr of resting poses has been generated. More...
int	getNrOfSamplesDone ()
	returns the number of samples that has been simulated.
int	getNrOfSamplesLeft ()
	returns the number of samples that has yet to be simulated.
std::string	getStatusString ()
	a simple status. More...

Protected Member Functions
void	stepperLoop ()

Detailed Description

finds resting poses of a dynamic scene.

This generator relies on

• a state sampler for providing an initial state of the system
• a resting pose constraint for determining when the system is at rest

for each simulation step taken an update event callback a is triggered.

Constructor & Destructor Documentation

RestingPoseGenerator() [1/2]

RestingPoseGenerator	(	rw::core::Ptr< rwsim::simulator::DynamicSimulator >	sim,
		const rw::kinematics::State &	initState,
		rw::core::Ptr< SimStateConstraint >	restConstraint
	)

Parameters

sim
initState
restConstraint

RestingPoseGenerator() [2/2]

RestingPoseGenerator	(	rw::core::Ptr< rwsim::simulator::DynamicSimulator >	sim,
		const rw::kinematics::State &	initState,
		rw::core::Ptr< StateSampler >	sampler,
		rw::core::Ptr< SimStateConstraint >	restConstraint
	)

Parameters

sim
initState
sampler
restConstraint

Returns

Member Function Documentation

getStatusString()

std::string getStatusString

(

)

a simple status.

Returns

isFinished()

bool isFinished

(

)

the generator is finished if the specified nr of resting poses has been generated.

Returns

true if all rest poses has been generated, false otherwise

setInitStateSample()

void setInitStateSample ( rw::core::Ptr< StateSampler >  sampler )

inline

set the sampler used for initial state

Parameters

sampler

[in] state sampler

setRestingCriteria()

void setRestingCriteria ( rw::core::Ptr< SimStateConstraint >  restconstraint )

inline

resting state contraint

Parameters

restconstraint

[in] constraint

setResultCallback()

void setResultCallback ( RestingPoseCallback  callback )

inline

set the callback for when a resting pose is found.

Parameters

callback

[in] callback funtion

setUpdateEventCallback()

void setUpdateEventCallback ( UpdateEventCallback  callback )

inline

set the callback for when a simulation step has been carried out.

Parameters

callback

[in] callback funtion

start()

void start

(

int

nrOfTests

)

start resting pose generation

Parameters

nrOfTests

[in] number of resting poses to find.

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

• RestingPoseGenerator.hpp