Simulator (RobWork Java API Documentation)

java.lang.Object
- org.robwork.sdurw_simulation.Simulator

Direct Known Subclasses:

DynamicSimulator
```
public class Simulator
extends java.lang.Object
```
interface of a general simulator

Nested Class Summary

Nested Classes
Modifier and Type Class Description

static class Simulator.UpdateInfo
step info is used when updating controllers, devices and bodies.

Constructor Summary

Constructors
Constructor Description

Simulator(long cPtr, boolean cMemoryOwn)

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method	Description
`void`	`delete()`
`ControllerPtr`	`getController(java.lang.String name)`	get controller with specific name
`static long`	`getCPtr(Simulator obj)`
`PropertyMap`	`getPropertyMap()`	get propertymap of this simulator
`SensorPtr`	`getSensor(java.lang.String name)`	get sensor with specific name
`State`	`getState()`	get current state of simulator
`double`	`getTime()`	gets the the current simulated time
`void`	`init(State state)`	initialize simulator with state variables
`void`	`reset(State state)`	reset velocity and acceleration of all bodies to 0.
`void`	`setEnabled(FramePtr frame, boolean enabled)`	Enables or disables simulation of a frame Conditional comment:
`void`	`step(double dt)`	take a step forward in time with timestep dt.

Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Constructor Detail
  - Simulator
```
public Simulator(long cPtr,
                 boolean cMemoryOwn)
```
- Method Detail
  - getCPtr
```
public static long getCPtr(Simulator obj)
```
  - delete
```
public void delete()
```
  - step
```
public void step(double dt)
```
    take a step forward in time with timestep dt.
    
    Parameters:
    
    dt - [in] the time step
  - reset
```
public void reset(State state)
```
    reset velocity and acceleration of all bodies to 0. And sets the position of all
    bodies to that described in state
  - init
```
public void init(State state)
```
    initialize simulator with state variables
  - getTime
```
public double getTime()
```
    gets the the current simulated time
  - getState
```
public State getState()
```
    get current state of simulator
    
    Returns:
    
    current state of simulator
  - setEnabled
```
public void setEnabled(FramePtr frame,
                       boolean enabled)
```
    Enables or disables simulation of a frame
    Conditional comment:
    
    Parameters:
    
    frame - [in]
    
    enabled - [in]
    End of conditional comment.
  - getPropertyMap
```
public PropertyMap getPropertyMap()
```
    get propertymap of this simulator
  - getSensor
```
public SensorPtr getSensor(java.lang.String name)
```
    get sensor with specific name
  - getController
```
public ControllerPtr getController(java.lang.String name)
```
    get controller with specific name