sdurw_simulation module

class sdurw_simulation.sdurw_simulation.FrameGrabber(*args, **kwargs)

Bases: object

The FrameGrabber abstract interface, can be used to grab images from a specialized source.

getHeight(): returns the height of the image :rtype: int :return: the height of the image

getImage(): returns the image :rtype: Image :return: the image

getWidth(): returns the width of the image :rtype: int :return: the width of the image

grab(frame, state): this function grabs a image from the specialized source and copies it to the FrameGrabber image.

resize(*args)

Overload 1:

resizes the image that this frameGrabber use. The colorcode will default to the one that FrameGrabber was initialized with. :type width: int :param width: [in] width of image :type height: int :param height: [in] height of image

Overload 2:

resizes the image that this frameGrabber use. :type width: int :param width: [in] width of image. :type height: int :param height: [in] height of image. :type colorCode: int :param colorCode: [in] Color encoding of the image.

property thisown: The membership flag

class sdurw_simulation.sdurw_simulation.FrameGrabber25D(*args, **kwargs)

Bases: object

The FrameGrabber25D abstract interface, can be used to grab images from a specialized source.

getFieldOfViewY(): Returns the field of view measured around the y-axis. :rtype: float :return: Field of view measured around y-axis in radians

getHeight(): returns the height of the image :rtype: int :return: the height of the image

getImage(): returns the image :rtype: PointCloud :return: the image

getMaxDepth(): maximum depth that this framegrabber can handle :rtype: float :return: maximum depth in meter

getMinDepth(): minimum depth that this framegrabber can handle :rtype: float :return: minimum depth in meter

getWidth(): returns the width of the image :rtype: int :return: the height of the image

grab(frame, state): this function grabs a image from the specialized source and copies it to the FrameGrabber25D image.

resize(width, height): resizes the image that this frameGrabber use. The colorcode will default to the one that FrameGrabber25D was initialized with. :type width: int :param width: [in] width of image :type height: int :param height: [in] height of image

property thisown: The membership flag

class sdurw_simulation.sdurw_simulation.FrameGrabber25DPtr(*args)

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

deref(): The pointer stored in the object.

getDeref(): Member access operator.

getFieldOfViewY(): Returns the field of view measured around the y-axis. :rtype: float :return: Field of view measured around y-axis in radians

getHeight(): returns the height of the image :rtype: int :return: the height of the image

getImage(): returns the image :rtype: PointCloud :return: the image

getMaxDepth(): maximum depth that this framegrabber can handle :rtype: float :return: maximum depth in meter

getMinDepth(): minimum depth that this framegrabber can handle :rtype: float :return: minimum depth in meter

getWidth(): returns the width of the image :rtype: int :return: the height of the image

grab(frame, state): this function grabs a image from the specialized source and copies it to the FrameGrabber25D image.

isNull(): checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared(): check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

resize(width, height): resizes the image that this frameGrabber use. The colorcode will default to the one that FrameGrabber25D was initialized with. :type width: int :param width: [in] width of image :type height: int :param height: [in] height of image

property thisown: The membership flag

class sdurw_simulation.sdurw_simulation.FrameGrabberPtr(*args)

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

deref(): The pointer stored in the object.

getDeref(): Member access operator.

getHeight(): returns the height of the image :rtype: int :return: the height of the image

getImage(): returns the image :rtype: Image :return: the image

getWidth(): returns the width of the image :rtype: int :return: the width of the image

grab(frame, state): this function grabs a image from the specialized source and copies it to the FrameGrabber image.

isNull(): checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared(): check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

resize(*args)

Overload 1:

resizes the image that this frameGrabber use. The colorcode will default to the one that FrameGrabber was initialized with. :type width: int :param width: [in] width of image :type height: int :param height: [in] height of image

Overload 2:

resizes the image that this frameGrabber use. :type width: int :param width: [in] width of image. :type height: int :param height: [in] height of image. :type colorCode: int :param colorCode: [in] Color encoding of the image.

property thisown: The membership flag

class sdurw_simulation.sdurw_simulation.GLFrameGrabber(width, height, fov, near=0.1, far=10.0)

Bases: FrameGrabber

An implementation of the FrameGrabber interface. The GLFrameGrabber grabs images from a OpenGL scene using a simple pinhole camera model.

a framethe opengl rendering to take pictures of the scene.

The most basic parameter of a camera is its Field of view. This can be used as an initial camera model. Field of view can be calculated from the focal length and the size of the CCD typically (1/2, 1/3, 1/4) inch. If a more realistic camera model is required the perspective transform of a specific camera can be added

grab(frame, state): this function grabs a image from the specialized source and copies it to the FrameGrabber image.

init(drawer): initialize the grabber with a scene viewer. This registers the grabber as a camera in the scene and enables rendering. :type drawer: rw::core::Ptr< rw::graphics::SceneViewer > :param drawer: [in] the scene viewer :rtype: boolean :return: true if initialization succeeded, false otherwise (depends on the capabilities of

the SceneViewer).

resize(*args)

Overload 1:

resizes the image that this frameGrabber use. The colorcode will default to the one that FrameGrabber was initialized with. :type width: int :param width: [in] width of image :type height: int :param height: [in] height of image

Overload 2:

resizes the image that this frameGrabber use. :type width: int :param width: [in] width of image. :type height: int :param height: [in] height of image. :type colorCode: int :param colorCode: [in] Color encoding of the image.

property thisown: The membership flag

class sdurw_simulation.sdurw_simulation.GLFrameGrabber25D(width, height, fov, mindepth=0.1, maxdepth=10.0)

Bases: FrameGrabber25D

An implementation of the FrameGrabber interface. The GLFrameGrabber25D grabs images from a OpenGL scene using a simple pinhole camera model.

a framethe opengl rendering to take pictures of the scene.

The most basic parameter of a camera is its Field of view. This can be used as an initial camera model. Field of view can be calculated from the focal length and the size of the CCD typically (1/2, 1/3, 1/4) inch. If a more realistic camera model is required the perspective transform of a specific camera can be added

getFieldOfViewY(): Returns the field of view measured around the y-axis. :rtype: float :return: Field of view measured around y-axis in radians

getMaxDepth(): maximum depth that this framegrabber can handle :rtype: float :return: maximum depth in meter

getMinDepth(): minimum depth that this framegrabber can handle :rtype: float :return: minimum depth in meter

grab(frame, state): this function grabs a image from the specialized source and copies it to the FrameGrabber25D image.

init(drawer): initialize the grabber with a scene viewer. This registers the grabber as a camera in the scene and enables rendering. :type drawer: rw::core::Ptr< rw::graphics::SceneViewer > :param drawer: [in] the scene viewer :rtype: boolean :return: true if initialization succeeded, false otherwise (depends on the capabilities of

the SceneViewer).

setMaxDepth(depth): set the maximum depth that is percieved by this frame grabber. If min and max depth are too far apart the resolution of the depth perception will become bad. Hence keep the range realistic. :type depth: float :param depth: [in] max depth

setMinDepth(depth): set the minimum depth that is percieved by this frame grabber. If min and max depth are too far apart the resolution of the depth perception will become bad. Hence keep the range realistic. :type depth: float :param depth: [in] min depth

property thisown: The membership flag

class sdurw_simulation.sdurw_simulation.GLFrameGrabber25DCPtr(*args)

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

deref(): The pointer stored in the object.

getDeref(): Member access operator.

getHeight(): returns the height of the image :rtype: int :return: the height of the image

getWidth(): returns the width of the image :rtype: int :return: the height of the image

isNull(): checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared(): check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown: The membership flag

class sdurw_simulation.sdurw_simulation.GLFrameGrabber25DPtr(*args)

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

cptr()

deref(): The pointer stored in the object.

getDeref(): Member access operator.

getFieldOfViewY()

getHeight(): returns the height of the image :rtype: int :return: the height of the image

getImage(): returns the image :rtype: PointCloud :return: the image

getMaxDepth()

getMinDepth()

getWidth(): returns the width of the image :rtype: int :return: the height of the image

grab(frame, state)

init(drawer): initialize the grabber with a scene viewer. This registers the grabber as a camera in the scene and enables rendering. :type drawer: rw::core::Ptr< rw::graphics::SceneViewer > :param drawer: [in] the scene viewer :rtype: boolean :return: true if initialization succeeded, false otherwise (depends on the capabilities of

the SceneViewer).

isNull(): checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared(): check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

resize(width, height): resizes the image that this frameGrabber use. The colorcode will default to the one that FrameGrabber25D was initialized with. :type width: int :param width: [in] width of image :type height: int :param height: [in] height of image

setMaxDepth(depth): set the maximum depth that is percieved by this frame grabber. If min and max depth are too far apart the resolution of the depth perception will become bad. Hence keep the range realistic. :type depth: float :param depth: [in] max depth

setMinDepth(depth): set the minimum depth that is percieved by this frame grabber. If min and max depth are too far apart the resolution of the depth perception will become bad. Hence keep the range realistic. :type depth: float :param depth: [in] min depth

property thisown: The membership flag

class sdurw_simulation.sdurw_simulation.GLFrameGrabberCPtr(*args)

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

deref(): The pointer stored in the object.

getDeref(): Member access operator.

isNull(): checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared(): check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown: The membership flag

class sdurw_simulation.sdurw_simulation.GLFrameGrabberPtr(*args)

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

asFrameGrabberPtr()

cptr()

deref(): The pointer stored in the object.

getDeref(): Member access operator.

getHeight(): returns the height of the image :rtype: int :return: the height of the image

getImage(): returns the image :rtype: Image :return: the image

getWidth(): returns the width of the image :rtype: int :return: the width of the image

grab(frame, state)

init(drawer): initialize the grabber with a scene viewer. This registers the grabber as a camera in the scene and enables rendering. :type drawer: rw::core::Ptr< rw::graphics::SceneViewer > :param drawer: [in] the scene viewer :rtype: boolean :return: true if initialization succeeded, false otherwise (depends on the capabilities of

the SceneViewer).

isNull(): checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared(): check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

resize(*args)

property thisown: The membership flag

class sdurw_simulation.sdurw_simulation.SimulatedCamera(*args)

Bases: SimulatedSensor

The SimulatedCamera class makes it posible to use virtual camera sensors by using different framegrapper implementations.

The SimulatedCamera implements the camera interface though the setting of framerate has no meaning to the virtual camera since no timing is done in this implementation.

acquire()

getCameraSensor(): Get the camera sensor. :rtype: rw::core::Ptr< rw::sensor::Camera > :return: the sensor.

getFrameRate()

getHeight()

getImage()

getSensor()

getWidth()

initialize()

isImageReady()

reset(state): Resets the state of the SimulatedSensor to that of state :type state: State :param state: [in] the state that the sensor is reset too.

setFrameRate(framerate)

start()

stop()

property thisown: The membership flag

update(info, state)

steps the the SimulatedSensor with time dt and saves any state: changes in state.

Parameters

info (UpdateInfo) – [in] update information related to the time step.
state (State) – [out] changes of the SimulatedSensor is saved in state.

class sdurw_simulation.sdurw_simulation.SimulatedCameraCPtr(*args)

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

deref(): The pointer stored in the object.

getDeref(): Member access operator.

getFrame(): get frame that this sensor is attached to. :rtype: Frame :return: frame

getHeight()

getName(): get name of this simulated sensor

getWidth()

isNull(): checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared(): check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown: The membership flag

class sdurw_simulation.sdurw_simulation.SimulatedCameraPtr(*args)

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

acquire()

cptr()

deref(): The pointer stored in the object.

getCameraSensor(): Get the camera sensor. :rtype: rw::core::Ptr< rw::sensor::Camera > :return: the sensor.

getDeref(): Member access operator.

getFrame(): get frame that this sensor is attached to. :rtype: Frame :return: frame

getFrameRate()

getHeight()

getImage()

getName(): get name of this simulated sensor

getSensor()

getSensorHandle(sim): get a handle to controlling an instance of the simulated sensor in a specific simulator :type sim: Ptr :param sim: [in] the simulator in which the handle is active

getSensorModel(): get the sensor model of this simulated sensor.

getStateStructure(): Get the state structure. :rtype: Ptr :return: the state structure.

getWidth()

initialize()

isImageReady()

isNull(): checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isRegistered(): Check if object has registered its state. :rtype: boolean :return: true if registered, false otherwise.

isShared(): check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

registerIn(*args)

Overload 1:

initialize this stateless data to a specific state :type state: State :param state: [in] the state in which to register the data.

Notes: the data will be registered in the state structure of the state and any copies or other instances of the state will therefore also contain the added states.

Overload 2:: register this stateless object in a statestructure.

reset(state)

setFrameRate(framerate)

start()

stop()

property thisown: The membership flag

unregister(): unregisters all state data of this stateless object

update(info, state)

class sdurw_simulation.sdurw_simulation.SimulatedController(*args, **kwargs)

Bases: Stateless

interface of a simulated controller

getControllerHandle(sim): get the controller handle eg. statefull handle, associated with this simulated controller :rtype: rw::core::Ptr< rwlibs::control::Controller > :return:

getControllerModel(): get the controllermodel of this simulated controller :rtype: rw::core::Ptr< rw::models::ControllerModel > :return:

getControllerName(): get the name of this controller :rtype: string :return: name of this controller

isEnabled(): true if this controller is enabled :rtype: boolean :return:

reset(state): reset the controller to the applied state :type state: State :param state: [in] the state to reset to

setEnabled(enabled): disable or enable this controller :type enabled: boolean :param enabled:

property thisown: The membership flag

update(info, state): updates/steps the controller with time step dt. It will update the state state accordingly :type info: UpdateInfo :param info: [in] update information related to the time step. :type state: State :param state: [in/out] the current state

class sdurw_simulation.sdurw_simulation.SimulatedControllerPtr(*args)

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

deref(): The pointer stored in the object.

getControllerHandle(sim): get the controller handle eg. statefull handle, associated with this simulated controller :rtype: rw::core::Ptr< rwlibs::control::Controller > :return:

getControllerModel(): get the controllermodel of this simulated controller :rtype: rw::core::Ptr< rw::models::ControllerModel > :return:

getControllerName(): get the name of this controller :rtype: string :return: name of this controller

getDeref(): Member access operator.

getStateStructure(): Get the state structure. :rtype: Ptr :return: the state structure.

isEnabled(): true if this controller is enabled :rtype: boolean :return:

isNull(): checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isRegistered(): Check if object has registered its state. :rtype: boolean :return: true if registered, false otherwise.

isShared(): check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

registerIn(*args)

Overload 1:

initialize this stateless data to a specific state :type state: State :param state: [in] the state in which to register the data.

Notes: the data will be registered in the state structure of the state and any copies or other instances of the state will therefore also contain the added states.

Overload 2:: register this stateless object in a statestructure.

reset(state): reset the controller to the applied state :type state: State :param state: [in] the state to reset to

setEnabled(enabled): disable or enable this controller :type enabled: boolean :param enabled:

property thisown: The membership flag

unregister(): unregisters all state data of this stateless object

update(info, state): updates/steps the controller with time step dt. It will update the state state accordingly :type info: UpdateInfo :param info: [in] update information related to the time step. :type state: State :param state: [in/out] the current state

class sdurw_simulation.sdurw_simulation.SimulatedControllerPtrVector(arg1=None, arg2=None)

Bases: list

This class is deprecated and is basically a wrapper around a list

at(i)

back()

clear(): Remove all items from list.

empty()

front()

pop_back()

push_back(elem)

size()

class sdurw_simulation.sdurw_simulation.SimulatedScanner25D(*args)

Bases: SimulatedSensor

a simulated range scanner for 2.5D images, that is basically pointclouds without color information.

acquire()

close()

getFrameRate()

getRange()

getScan()

getScanner25DSensor(instance): get instance of scanner

getSensorHandle(instance): get a handle to controlling an instance of the simulated sensor in a specific simulator :type instance: rw::core::Ptr< rwlibs::simulation::Simulator > :param instance: [in] the simulator in which the handle is active

isOpen()

isScanReady()

open()

reset(state): Resets the state of the SimulatedSensor to that of state :type state: State :param state: [in] the state that the sensor is reset too.

setFrameRate(rate): set the framerate in frames per sec. :type rate: float :param rate: [in] frames per sec

property thisown: The membership flag

update(info, state)

steps the the SimulatedSensor with time dt and saves any state: changes in state.

Parameters

info (UpdateInfo) – [in] update information related to the time step.
state (State) – [out] changes of the SimulatedSensor is saved in state.

class sdurw_simulation.sdurw_simulation.SimulatedScanner25DCPtr(*args)

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

deref(): The pointer stored in the object.

getDeref(): Member access operator.

getFrame(): get frame that this sensor is attached to. :rtype: Frame :return: frame

getName(): get name of this simulated sensor

isNull(): checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared(): check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown: The membership flag

class sdurw_simulation.sdurw_simulation.SimulatedScanner25DPtr(*args)

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

acquire()

close()

cptr()

deref(): The pointer stored in the object.

getDeref(): Member access operator.

getFrame(): get frame that this sensor is attached to. :rtype: Frame :return: frame

getFrameRate()

getName(): get name of this simulated sensor

getRange()

getScan()

getScanner25DSensor(instance): get instance of scanner

getSensorHandle(instance): get a handle to controlling an instance of the simulated sensor in a specific simulator :type instance: rw::core::Ptr< rwlibs::simulation::Simulator > :param instance: [in] the simulator in which the handle is active

getSensorModel(): get the sensor model of this simulated sensor.

getStateStructure(): Get the state structure. :rtype: Ptr :return: the state structure.

isNull(): checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isOpen()

isRegistered(): Check if object has registered its state. :rtype: boolean :return: true if registered, false otherwise.

isScanReady()

isShared(): check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

open()

registerIn(*args)

Overload 1:

initialize this stateless data to a specific state :type state: State :param state: [in] the state in which to register the data.

Notes: the data will be registered in the state structure of the state and any copies or other instances of the state will therefore also contain the added states.

Overload 2:: register this stateless object in a statestructure.

reset(state)

setFrameRate(rate): set the framerate in frames per sec. :type rate: float :param rate: [in] frames per sec

property thisown: The membership flag

unregister(): unregisters all state data of this stateless object

update(info, state)

class sdurw_simulation.sdurw_simulation.SimulatedScanner2D(*args)

Bases: SimulatedSensor

Simulated scanner in 2D.

acquire()

close()

getAngularRange()

getFrameRate()

getMeasurementCount()

getRange()

getScan()

getScanner2DSensor(instance): returns a handle to what represents a statefull interface. The handle will be locked to the simulator :rtype: rw::core::Ptr< rw::sensor::Scanner2D > :return:

getSensorModel(): Get a model of the sensor. :rtype: rw::core::Ptr< rw::sensor::Scanner2DModel > :return: the model.

isOpen()

isScanReady()

open()

reset(state): Resets the state of the SimulatedSensor to that of state :type state: State :param state: [in] the state that the sensor is reset too.

setFrameRate(rate): set the framerate in frames per sec. :type rate: float :param rate: [in] frames per sec

property thisown: The membership flag

update(info, state)

steps the the SimulatedSensor with time dt and saves any state: changes in state.

Parameters

info (UpdateInfo) – [in] update information related to the time step.
state (State) – [out] changes of the SimulatedSensor is saved in state.

class sdurw_simulation.sdurw_simulation.SimulatedScanner2DCPtr(*args)

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

deref(): The pointer stored in the object.

getDeref(): Member access operator.

getFrame(): get frame that this sensor is attached to. :rtype: Frame :return: frame

getMeasurementCount()

getName(): get name of this simulated sensor

getScan()

isNull(): checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared(): check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

property thisown: The membership flag

class sdurw_simulation.sdurw_simulation.SimulatedScanner2DPtr(*args)

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

acquire()

close()

cptr()

deref(): The pointer stored in the object.

getAngularRange()

getDeref(): Member access operator.

getFrame(): get frame that this sensor is attached to. :rtype: Frame :return: frame

getFrameRate()

getMeasurementCount()

getName(): get name of this simulated sensor

getRange()

getScan()

getScanner2DSensor(instance): returns a handle to what represents a statefull interface. The handle will be locked to the simulator :rtype: rw::core::Ptr< rw::sensor::Scanner2D > :return:

getSensorHandle(sim): get a handle to controlling an instance of the simulated sensor in a specific simulator :type sim: Ptr :param sim: [in] the simulator in which the handle is active

getSensorModel(): Get a model of the sensor. :rtype: rw::core::Ptr< rw::sensor::Scanner2DModel > :return: the model.

getStateStructure(): Get the state structure. :rtype: Ptr :return: the state structure.

isNull(): checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isOpen()

isRegistered(): Check if object has registered its state. :rtype: boolean :return: true if registered, false otherwise.

isScanReady()

isShared(): check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

open()

registerIn(*args)

Overload 1:

initialize this stateless data to a specific state :type state: State :param state: [in] the state in which to register the data.

Notes: the data will be registered in the state structure of the state and any copies or other instances of the state will therefore also contain the added states.

Overload 2:: register this stateless object in a statestructure.

reset(state)

setFrameRate(rate): set the framerate in frames per sec. :type rate: float :param rate: [in] frames per sec

property thisown: The membership flag

unregister(): unregisters all state data of this stateless object

update(info, state)

class sdurw_simulation.sdurw_simulation.SimulatedSensor(*args, **kwargs)

Bases: Stateless

simulated sensor interface

getFrame(): get frame that this sensor is attached to. :rtype: Frame :return: frame

getName(): get name of this simulated sensor

getSensorHandle(sim): get a handle to controlling an instance of the simulated sensor in a specific simulator :type sim: Ptr :param sim: [in] the simulator in which the handle is active

getSensorModel(): get the sensor model of this simulated sensor.

reset(state): Resets the state of the SimulatedSensor to that of state :type state: State :param state: [in] the state that the sensor is reset too.

property thisown: The membership flag

update(info, state)

steps the the SimulatedSensor with time dt and saves any state: changes in state.

Parameters

info (UpdateInfo) – [in] update information related to the time step.
state (State) – [out] changes of the SimulatedSensor is saved in state.

class sdurw_simulation.sdurw_simulation.SimulatedSensorPtr(*args)

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

deref(): The pointer stored in the object.

getDeref(): Member access operator.

getFrame(): get frame that this sensor is attached to. :rtype: Frame :return: frame

getName(): get name of this simulated sensor

getSensorHandle(sim): get a handle to controlling an instance of the simulated sensor in a specific simulator :type sim: Ptr :param sim: [in] the simulator in which the handle is active

getSensorModel(): get the sensor model of this simulated sensor.

getStateStructure(): Get the state structure. :rtype: Ptr :return: the state structure.

isNull(): checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isRegistered(): Check if object has registered its state. :rtype: boolean :return: true if registered, false otherwise.

isShared(): check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

registerIn(*args)

Overload 1:

initialize this stateless data to a specific state :type state: State :param state: [in] the state in which to register the data.

Notes: the data will be registered in the state structure of the state and any copies or other instances of the state will therefore also contain the added states.

Overload 2:: register this stateless object in a statestructure.

reset(state): Resets the state of the SimulatedSensor to that of state :type state: State :param state: [in] the state that the sensor is reset too.

property thisown: The membership flag

unregister(): unregisters all state data of this stateless object

update(info, state)

steps the the SimulatedSensor with time dt and saves any state: changes in state.

Parameters

info (UpdateInfo) – [in] update information related to the time step.
state (State) – [out] changes of the SimulatedSensor is saved in state.

class sdurw_simulation.sdurw_simulation.SimulatedSensorPtrVector(arg1=None, arg2=None)

Bases: list

This class is deprecated and is basically a wrapper around a list

at(i)

back()

clear(): Remove all items from list.

empty()

front()

pop_back()

push_back(elem)

size()

class sdurw_simulation.sdurw_simulation.Simulator(*args, **kwargs)

Bases: object

interface of a general simulator

getController(name): get controller with specific name

getPropertyMap(): get propertymap of this simulator

getSensor(name): get sensor with specific name

getState(): get current state of simulator :rtype: State :return: current state of simulator

getTime(): gets the the current simulated time

init(state): initialize simulator with state variables

reset(state): reset velocity and acceleration of all bodies to 0. And sets the position of all bodies to that described in state

setEnabled(frame, enabled): Enables or disables simulation of a frame Conditional comment: :type frame: rw::core::Ptr< rw::kinematics::Frame > :param frame: [in] :type enabled: boolean :param enabled: [in] End of conditional comment.

step(dt): take a step forward in time with timestep dt. :type dt: float :param dt: [in] the time step

property thisown: The membership flag

class sdurw_simulation.sdurw_simulation.SimulatorPtr(*args)

Bases: object

Ptr stores a pointer and optionally takes ownership of the value.

deref(): The pointer stored in the object.

getController(name): get controller with specific name

getDeref(): Member access operator.

getPropertyMap(): get propertymap of this simulator

getSensor(name): get sensor with specific name

getState(): get current state of simulator :rtype: State :return: current state of simulator

getTime(): gets the the current simulated time

init(state): initialize simulator with state variables

isNull(): checks if the pointer is null :rtype: boolean :return: Returns true if the pointer is null

isShared(): check if this Ptr has shared ownership or none ownership :rtype: boolean :return: true if Ptr has shared ownership, false if it has no ownership.

reset(state): reset velocity and acceleration of all bodies to 0. And sets the position of all bodies to that described in state

setEnabled(frame, enabled): Enables or disables simulation of a frame Conditional comment: :type frame: rw::core::Ptr< rw::kinematics::Frame > :param frame: [in] :type enabled: boolean :param enabled: [in] End of conditional comment.

step(dt): take a step forward in time with timestep dt. :type dt: float :param dt: [in] the time step

property thisown: The membership flag

class sdurw_simulation.sdurw_simulation.UpdateInfo(*args)

Bases: object

step info is used when updating controllers, devices and bodies.

property dt: the timestep which is about to take place

property dt_prev: the timestep taken in previous step.

property rollback: if true then the previous step was unsuccessfull and a new step with new parameters is executed. Typically the dt is reduces. The time should be the same as previous call.

property thisown: The membership flag

property time: current simulation time

sdurw_simulation.sdurw_simulation.ownedPtr(*args)

Overload 1: