Wrapper for a dart::simulation::World, which contains a set of skeletons (i.e., Robots and Structures). The World is the main object that is used by motion planning as it contains a holistic view of the scene. More...

#include <world.h>

Classes
struct	CollisionInfo
	Collision filter information. More...

Public Member Functions
void	clearIKModules ()
	Clear all IK modules created in skeletons in the world. More...

void	lock ()
	Grab internal recursive lock for world. More...

void	unlock ()
	Unlock internal recursive world lock. More...

void	openOSGViewer ()
	Open the Open Scene Graph visualization for this world. More...

dart::collision::CollisionDetectorPtr	getCollider () const
	Get the collision detector for this world. More...

std::shared_ptr< dart::collision::CollisionGroup >	getSelfCollisionGroup (const std::string &name) const
	Get the self-collision group for a skeleton in this world. More...

std::shared_ptr< dart::collision::CollisionGroup >	getOtherCollisionGroup (const std::string &name) const
	Get the group for everything other than a given skeleton in this world. More...

CollisionInfo	getCollisionInfo (const std::string &name) const
	Get the collision info (self and other collision groups) for a skeleton in this world. More...

std::shared_ptr< dart::collision::CompositeCollisionFilter > &	getWorldCollisionFilter ()
	Get the current world collision filter (composite of all skeleton filters). This is more efficient than constructing a new filter from robowflex::darts::World::getDefaultFilter() or robowflex::darts::World::getAllValidFilter(). More...

Constuctors
	World (const std::string &name="world")
	Create an empty world. More...

WorldPtr	clone (const std::string &suffix="") const
	Clone this world. More...

World Entity Management
void	addRobot (RobotPtr robot)
	Add a robot to the world. More...

void	removeRobot (const std::string &name)
	Remove a robot from the world. More...

void	removeRobot (const RobotPtr &robot)
	Remove a robot from the world. More...

RobotPtr	getRobot (const std::string &name)
	Get a robot in the world. More...

RobotConstPtr	getRobotConst (const std::string &name) const
	Get a robot in the world. More...

void	addStructure (StructurePtr structure)
	Add a structure to the world. More...

void	removeStructure (const std::string &name)
	Remove a structure from the world. More...

void	removeStructure (const StructurePtr &structure)
	Remove a structure from the world. More...

StructurePtr	getStructure (const std::string &name)
	Get a structure in the world. More...

StructureConstPtr	getStructureConst (const std::string &name) const
	Get a structure in the world. More...

const std::map< std::string, StructurePtr > &	getStructures ()
	Get the set of structures in the world. More...

Getters and Setters
const std::string &	getName () const
	Get the name of this world. More...

std::pair< Eigen::Vector3d, Eigen::Vector3d >	getWorkspaceBounds () const
	Get the bounds on the workspace. More...

Eigen::Vector3d &	getWorkspaceLow ()
	Get the lower bounds of the workspace. More...

const Eigen::Vector3d &	getWorkspaceLowConst () const
	Get the lower bounds of the workspace. More...

Eigen::Vector3d &	getWorkspaceHigh ()
	Get the upper bounds of the workspace. More...

const Eigen::Vector3d &	getWorkspaceHighConst () const
	Get the upper bounds of the workspace. More...

dart::simulation::WorldPtr	getSim ()
	Get the Dart world. More...

const dart::simulation::WorldPtr &	getSimConst () const
	Get the Dart world. More...

unsigned int	getSkeletonIndex (const dart::dynamics::SkeletonPtr &skeleton) const
	Get the index in the world of a skeleton. More...

Collisions
std::shared_ptr< dart::collision::BodyNodeCollisionFilter >	getAllValidFilter () const
	Get a collision filter that allows collisions between all body nodes. Useful for constructing a custom filter to select one or a few objects. More...

std::shared_ptr< dart::collision::BodyNodeCollisionFilter >	getDefaultFilter () const
	Get a collision filter that is a copy of the default filter. More...

bool	inCollision (const std::shared_ptr< dart::collision::CollisionFilter > &filter=nullptr) const
	Checks if world is currently in collision. More...

double	distanceToCollision () const
	Gets the current signed distance to collision in the world. More...

void	forceUpdate ()
	Force forward kinematics to update. More...

Private Member Functions
void	addSkeletonCollider (const std::string &name, const dart::dynamics::SkeletonPtr &skeleton)
	Add a new collision filter (ACM) for a skeleton. More...

void	removeSkeletonCollider (const std::string &name, const dart::dynamics::SkeletonPtr &skeleton)
	Remove a collision filter (ACM). More...

Private Attributes
dart::simulation::WorldPtr	world_
	Underlying world. More...

Eigen::Vector3d	low_ {-5, -5, -5}
	Lower workspace bounds. More...

Eigen::Vector3d	high_ {5, 5, 5}
	Upper workspace bounds. More...

std::map< std::string, RobotPtr >	robots_
	Robots in world. More...

std::map< std::string, StructurePtr >	structures_
	Structures in world. More...

dart::collision::CollisionGroupPtr	all_
	All collision groups in world. More...

std::map< std::string, CollisionInfo >	collision_

std::shared_ptr< dart::collision::CompositeCollisionFilter >	filter_

dart::collision::CollisionDetectorPtr	collider_
	Collision checker. More...

const std::string	name_
	Name of world. More...

std::recursive_mutex	mutex_
	Internal lock. More...

Detailed Description

Wrapper for a dart::simulation::World, which contains a set of skeletons (i.e., Robots and Structures). The World is the main object that is used by motion planning as it contains a holistic view of the scene.

Definition at line 57 of file world.h.

Constructor & Destructor Documentation

◆ World()

World::World ( const std::string & name = "world" )

Create an empty world.

Parameters

[in] name Name for the world.

World

Definition at line 36 of file world.cpp.

   : world_(dart::simulation::World::create(name))
   , filter_(std::make_shared<dart::collision::CompositeCollisionFilter>())
   , name_(name)
 {
     world_->setGravity(Eigen::Vector3d(0, 0, -9.81));
  
     auto *solver = world_->getConstraintSolver();
  
     auto &opt = solver->getCollisionOption();
     opt.collisionFilter = filter_;
  
     collider_ = solver->getCollisionDetector();
  
     // world_->getConstraintSolver()->setCollisionDetector(collider_->cloneWithoutCollisionObjects());
  
     all_ = collider_->createCollisionGroupAsSharedPtr();
 }

Member Function Documentation

◆ addRobot()

void World::addRobot ( RobotPtr robot )

Add a robot to the world.

Parameters

[in] robot Robot to add.

Definition at line 108 of file world.cpp.

 {
     auto it = robots_.find(robot->getName());
     if (it == robots_.end())
     {
         // Add robot to world
         robots_.emplace(robot->getName(), robot);
         world_->addSkeleton(robot->getSkeleton());
  
         // Add ACM to collision filter
         filter_->addCollisionFilter(robot->getACM()->getFilter().get());
         addSkeletonCollider(robot->getName(), robot->getSkeletonConst());
     }
 }

◆ addSkeletonCollider()

void World::addSkeletonCollider	(	const std::string &	name,
		const dart::dynamics::SkeletonPtr &	skeleton
	)

private

Add a new collision filter (ACM) for a skeleton.

Parameters

[in]	name	Name for collision filter.
[in]	skeleton	Skeleton collision filter is for.

Definition at line 81 of file world.cpp.

 {
     // Collect collision groups
     CollisionInfo info;
     info.self = collider_->createCollisionGroupAsSharedPtr();
     info.self->addShapeFramesOf(skeleton.get());
     all_->addShapeFramesOf(skeleton.get());
  
     info.others = collider_->createCollisionGroupAsSharedPtr();
     for (const auto &entry : collision_)
         info.others->addShapeFramesOf(entry.second.self.get());
  
     collision_.emplace(name, info);
 }

◆ addStructure()

void World::addStructure ( StructurePtr structure )

Add a structure to the world.

Parameters

[in] structure Structure to add.

Definition at line 163 of file world.cpp.

 {
     auto it = structures_.find(structure->getName());
     if (it == structures_.end())
     {
         structures_.emplace(structure->getName(), structure);
         world_->addSkeleton(structure->getSkeleton());
  
         filter_->addCollisionFilter(structure->getACM()->getFilter().get());
         addSkeletonCollider(structure->getName(), structure->getSkeletonConst());
     }
 }

◆ clearIKModules()

void World::clearIKModules ( )

Clear all IK modules created in skeletons in the world.

Definition at line 355 of file world.cpp.

 {
     for (std::size_t i = 0; i < world_->getNumSkeletons(); ++i)
     {
         auto skel = world_->getSkeleton(i);
         skel->clearIK();
  
         for (auto *bn : skel->getBodyNodes())
             bn->clearIK();
     }
 }

◆ clone()

WorldPtr World::clone ( const std::string & suffix = "" ) const

Clone this world.

Parameters

[in] suffix Suffix to append to all names in the world (i.e., robots).

Definition at line 55 of file world.cpp.

 {
     auto world = std::make_shared<World>(name_ + suffix);
  
     for (const auto &robot : robots_)
         world->addRobot(robot.second->cloneRobot(robot.first + suffix));
  
     for (const auto &structure : structures_)
         world->addStructure(structure.second->cloneStructure(structure.first + suffix));
  
     // for (std::size_t i = 0; i < world_->getNumSkeletons(); ++i)
     // {
     //     auto skel = world_->getSkeleton(i);
     //     auto state = skel->getState();
     //     auto other_skel = world->getSim()->getSkeleton(skel->getName() + suffix);
     //     other_skel->setState(state);
     // }
  
     return world;
 }

◆ distanceToCollision()

double World::distanceToCollision ( ) const

Gets the current signed distance to collision in the world.

Returns: The signed distance to collision for the current state of the world.

Definition at line 312 of file world.cpp.

 {
     dart::collision::DistanceOption option;
     option.distanceLowerBound = -std::numeric_limits<double>::infinity();
     option.distanceFilter = std::make_shared<DistanceCollisionWrapper>(filter_);
  
     dart::collision::DistanceResult result;
     double d = collider_->distance(all_.get(), option, &result);
  
     const auto &shape_node1 = result.shapeFrame1->asShapeNode();
     const auto &shape_node2 = result.shapeFrame2->asShapeNode();
  
     const auto &body_node1 = shape_node1->getBodyNodePtr();
     const auto &body_node2 = shape_node2->getBodyNodePtr();
  
     RBX_INFO("Distance B1:%s:%s -> B2:%s:%s = %d",           //
              shape_node1->getName(), body_node1->getName(),  //
              shape_node2->getName(), body_node2->getName(),  //
              d);
  
     return d;
 }

◆ forceUpdate()

void World::forceUpdate ( )

Force forward kinematics to update.

Definition at line 349 of file world.cpp.

 {
     for (std::size_t i = 0; i < world_->getNumSkeletons(); ++i)
         world_->getSkeleton(i)->computeForwardKinematics();
 }

◆ getAllValidFilter()

std::shared_ptr< dart::collision::BodyNodeCollisionFilter > World::getAllValidFilter ( ) const

Get a collision filter that allows collisions between all body nodes. Useful for constructing a custom filter to select one or a few objects.

Returns: A collision filter that considers no collisions.

Definition at line 265 of file world.cpp.

 {
     auto filter = std::make_shared<dart::collision::BodyNodeCollisionFilter>();
     for (unsigned int i = 0; i < world_->getNumSkeletons(); ++i)
     {
         const auto &si = world_->getSkeleton(i);
  
         // Ignore collisions internally
         for (unsigned int ii = 0; ii < si->getNumBodyNodes(); ++ii)
             for (unsigned int ij = ii + 1; ij < si->getNumBodyNodes(); ++ij)
                 filter->addBodyNodePairToBlackList(si->getBodyNode(ii), si->getBodyNode(ij));
  
         // Ignore collisions on other skeletons
         for (unsigned int j = i + 1; j < world_->getNumSkeletons(); ++j)
         {
             const auto &sj = world_->getSkeleton(j);
             for (unsigned int ii = 0; ii < si->getNumBodyNodes(); ++ii)
                 for (unsigned int jj = 0; jj < sj->getNumBodyNodes(); ++jj)
                     filter->addBodyNodePairToBlackList(si->getBodyNode(ii), sj->getBodyNode(jj));
         }
     }
  
     return filter;
 }

◆ getCollider()

dart::collision::CollisionDetectorPtr robowflex::darts::World::getCollider ( ) const

Get the collision detector for this world.

Returns: A pointer to the world's collision detector.

◆ getCollisionInfo()

World::CollisionInfo World::getCollisionInfo ( const std::string & name ) const

Get the collision info (self and other collision groups) for a skeleton in this world.

Parameters

[in] name The name of the skeleton.

Returns: A struct containing pointers to the skeleton's self and other collision groups.

Definition at line 387 of file world.cpp.

 {
     return collision_.at(name);
 }

◆ getDefaultFilter()

std::shared_ptr< dart::collision::BodyNodeCollisionFilter > World::getDefaultFilter ( ) const

Get a collision filter that is a copy of the default filter.

Returns: A copy of the default collision filter.

Definition at line 290 of file world.cpp.

 {
     auto filter = std::make_shared<dart::collision::BodyNodeCollisionFilter>();
     for (const auto &[name, robot] : robots_)
         for (const auto &[b1, b2] : robot->getACM()->getDisabledPairs())
             filter->addBodyNodePairToBlackList(robot->getFrame(b1), robot->getFrame(b2));
  
     for (const auto &[name, structure] : structures_)
         for (const auto &[b1, b2] : structure->getACM()->getDisabledPairs())
             filter->addBodyNodePairToBlackList(structure->getFrame(b1), structure->getFrame(b2));
  
     return filter;
 }

◆ getName()

const std::string & World::getName ( ) const

Get the name of this world.

Returns: The name of the world.

Definition at line 76 of file world.cpp.

 {
     return name_;
 }

◆ getOtherCollisionGroup()

std::shared_ptr< dart::collision::CollisionGroup > World::getOtherCollisionGroup ( const std::string & name ) const

Get the group for everything other than a given skeleton in this world.

Parameters

[in] name The name of the skeleton.

Returns: A pointer to the other-collision group for the skeleton.

Definition at line 382 of file world.cpp.

 {
     return collision_.at(name).others;
 }

◆ getRobot()

RobotPtr World::getRobot ( const std::string & name )

Get a robot in the world.

Parameters

[in] name Name of robot to get.

Returns: The robot, or nullptr if non-existent.

Definition at line 145 of file world.cpp.

 {
     auto it = robots_.find(name);
     if (it != robots_.end())
         return it->second;
  
     return nullptr;
 }

◆ getRobotConst()

RobotConstPtr World::getRobotConst ( const std::string & name ) const

Get a robot in the world.

Parameters

[in] name Name of robot to get.

Returns: The robot, or nullptr if non-existent.

Definition at line 154 of file world.cpp.

 {
     auto it = robots_.find(name);
     if (it != robots_.end())
         return it->second;
  
     return nullptr;
 }

◆ getSelfCollisionGroup()

std::shared_ptr< dart::collision::CollisionGroup > World::getSelfCollisionGroup ( const std::string & name ) const

Get the self-collision group for a skeleton in this world.

Parameters

[in] name The name of the skeleton.

Returns: A pointer to the self-collision group for the skeleton.

Definition at line 377 of file world.cpp.

 {
     return collision_.at(name).self;
 }

◆ getSim()

dart::simulation::WorldPtr World::getSim ( )

Get the Dart world.

Returns: The underlying Dart world.

Definition at line 244 of file world.cpp.

 {
     return world_;
 }

◆ getSimConst()

const dart::simulation::WorldPtr & World::getSimConst ( ) const

Get the Dart world.

Returns: The underlying Dart world.

Definition at line 249 of file world.cpp.

 {
     return world_;
 }

◆ getSkeletonIndex()

unsigned int World::getSkeletonIndex ( const dart::dynamics::SkeletonPtr & skeleton ) const

Get the index in the world of a skeleton.

Parameters

[in] skeleton The skeleton to get the index of.

Returns: The index of a skeleton in the world.

Definition at line 254 of file world.cpp.

 {
     for (unsigned int i = 0; i < world_->getNumSkeletons(); ++i)
     {
         if (skeleton == world_->getSkeleton(i))
             return i;
     }
  
     return -1;
 }

◆ getStructure()

StructurePtr World::getStructure ( const std::string & name )

Get a structure in the world.

Parameters

[in] name Name of structure to get.

Returns: The structure, or nullptr if non-existent.

Definition at line 196 of file world.cpp.

 {
     auto it = structures_.find(name);
     if (it != structures_.end())
         return it->second;
  
     return nullptr;
 }

◆ getStructureConst()

StructureConstPtr World::getStructureConst ( const std::string & name ) const

Get a structure in the world.

Parameters

[in] name Name of structure to get.

Returns: The structure, or nullptr if non-existent.

Definition at line 205 of file world.cpp.

 {
     auto it = structures_.find(name);
     if (it != structures_.end())
         return it->second;
  
     return nullptr;
 }

◆ getStructures()

const std::map< std::string, StructurePtr > & World::getStructures ( )

Get the set of structures in the world.

Returns: A constant reference to the set of structures.

Definition at line 214 of file world.cpp.

 {
     return structures_;
 }

◆ getWorkspaceBounds()

std::pair< Eigen::Vector3d, Eigen::Vector3d > World::getWorkspaceBounds ( ) const

Get the bounds on the workspace.

Returns: A pair of the lower and upper bounds on the workspace.

Definition at line 219 of file world.cpp.

 {
     return std::make_pair(low_, high_);
 }

◆ getWorkspaceHigh()

Eigen::Vector3d & World::getWorkspaceHigh ( )

Get the upper bounds of the workspace.

Returns: A 3D vector of the upper X-, Y-, and Z-bounds on the workspace.

Definition at line 234 of file world.cpp.

 {
     return high_;
 }

◆ getWorkspaceHighConst()

const Eigen::Vector3d & World::getWorkspaceHighConst ( ) const

Get the upper bounds of the workspace.

Returns: A 3D vector of the upper X-, Y-, and Z-bounds on the workspace.

Definition at line 239 of file world.cpp.

 {
     return high_;
 }

◆ getWorkspaceLow()

Eigen::Vector3d & World::getWorkspaceLow ( )

Get the lower bounds of the workspace.

Returns: A 3D vector of the lower X-, Y-, and Z-bounds on the workspace.

Definition at line 224 of file world.cpp.

 {
     return low_;
 }

◆ getWorkspaceLowConst()

const Eigen::Vector3d & World::getWorkspaceLowConst ( ) const

Get the lower bounds of the workspace.

Returns: A 3D vector of the lower X-, Y-, and Z-bounds on the workspace.

Definition at line 229 of file world.cpp.

 {
     return low_;
 }

◆ getWorldCollisionFilter()

std::shared_ptr< dart::collision::CompositeCollisionFilter > & robowflex::darts::World::getWorldCollisionFilter ( )

Get the current world collision filter (composite of all skeleton filters). This is more efficient than constructing a new filter from robowflex::darts::World::getDefaultFilter() or robowflex::darts::World::getAllValidFilter().

Returns: A pointer to the current world collision filter.

Definition at line 392 of file world.cpp.

 {
     if (filter_ == nullptr)
     {
         throw std::runtime_error("World collision filter is not initialized!");
     }
  
     return filter_;
 }

◆ inCollision()

bool World::inCollision ( const std::shared_ptr< dart::collision::CollisionFilter > & filter = nullptr ) const

Checks if world is currently in collision.

Parameters

[in] filter Custom collision filter to use. If null, will use default collision filter.

Returns: True if the world is currently in collision, false otherwise.

Definition at line 304 of file world.cpp.

 {
     dart::collision::CollisionOption option;
     option.collisionFilter = (filter) ? filter : filter_;
  
     return collider_->collide(all_.get(), option, nullptr);
 }

◆ lock()

void World::lock ( )

Grab internal recursive lock for world.

Definition at line 367 of file world.cpp.

 {
     mutex_.lock();
 }

◆ openOSGViewer()

void World::openOSGViewer ( )

Open the Open Scene Graph visualization for this world.

Definition at line 335 of file world.cpp.

 {
     ::osg::ref_ptr<dart::gui::osg::RealTimeWorldNode> node = new dart::gui::osg::RealTimeWorldNode(world_);
  
     auto viewer = dart::gui::osg::Viewer();
     viewer.addWorldNode(node);
  
     viewer.setUpViewInWindow(0, 0, 1080, 1080);
     viewer.getCameraManipulator()->setHomePosition(
         ::osg::Vec3(2.57, 3.14, 1.64), ::osg::Vec3(0.00, 0.00, 0.00), ::osg::Vec3(-0.24, -0.25, 0.94));
     viewer.setCameraManipulator(viewer.getCameraManipulator());
     viewer.run();
 }

◆ removeRobot() [1/2]

void World::removeRobot ( const RobotPtr & robot )

Remove a robot from the world.

Parameters

[in] robot Robot to remove.

Definition at line 140 of file world.cpp.

 {
     removeRobot(robot->getName());
 }

◆ removeRobot() [2/2]

void World::removeRobot ( const std::string & name )

Remove a robot from the world.

Parameters

[in] name Name of robot to remove.

Definition at line 123 of file world.cpp.

 {
     auto it = robots_.find(name);
     if (it != robots_.end())
     {
         // Remove robot from world
         auto robot = it->second;
         world_->removeSkeleton(robot->getSkeleton());
  
         // Remove ACM from filter
         filter_->removeCollisionFilter(robot->getACM()->getFilter().get());
         removeSkeletonCollider(robot->getName(), robot->getSkeletonConst());
  
         robots_.erase(it);
     }
 }

◆ removeSkeletonCollider()

void World::removeSkeletonCollider	(	const std::string &	name,
		const dart::dynamics::SkeletonPtr &	skeleton
	)

private

Remove a collision filter (ACM).

Parameters

[in]	name	Name for collision filter.
[in]	skeleton	Skeleton collision filter is for.

Definition at line 96 of file world.cpp.

 {
     // Remove from collision groups
     auto ic = collision_.find(name);
     collision_.erase(ic);
  
     for (auto &entry : collision_)
         entry.second.others->removeShapeFramesOf(skeleton.get());
  
     all_->removeShapeFramesOf(skeleton.get());
 }

◆ removeStructure() [1/2]

void World::removeStructure ( const std::string & name )

Remove a structure from the world.

Parameters

[in] name Name of structure to remove.

Definition at line 176 of file world.cpp.

 {
     auto it = structures_.find(name);
     if (it != structures_.end())
     {
         auto structure = it->second;
         world_->removeSkeleton(structure->getSkeleton());
  
         filter_->removeCollisionFilter(structure->getACM()->getFilter().get());
         removeSkeletonCollider(structure->getName(), structure->getSkeletonConst());
  
         structures_.erase(it);
     }
 }

◆ removeStructure() [2/2]

void World::removeStructure ( const StructurePtr & structure )

Remove a structure from the world.

Parameters

[in] structure Structure to remove.

Definition at line 191 of file world.cpp.

 {
     removeStructure(structure->getName());
 }

◆ unlock()

void World::unlock ( )

Unlock internal recursive world lock.

Definition at line 372 of file world.cpp.

 {
     mutex_.unlock();
 }

Member Data Documentation

◆ all_

dart::collision::CollisionGroupPtr robowflex::darts::World::all_

private

All collision groups in world.

Definition at line 302 of file world.h.

◆ collider_

dart::collision::CollisionDetectorPtr robowflex::darts::World::collider_

private

Collision checker.

Definition at line 309 of file world.h.

◆ collision_

std::map<std::string, CollisionInfo> robowflex::darts::World::collision_

private

Map of skeleton names to collision filters.

Definition at line 303 of file world.h.

◆ filter_

std::shared_ptr<dart::collision::CompositeCollisionFilter> robowflex::darts::World::filter_

private

Composite collision filter of skeleton filters.

Definition at line 306 of file world.h.

◆ high_

Eigen::Vector3d robowflex::darts::World::high_ {5, 5, 5}

private

Upper workspace bounds.

Definition at line 297 of file world.h.

◆ low_

Eigen::Vector3d robowflex::darts::World::low_ {-5, -5, -5}

private

Lower workspace bounds.

Definition at line 296 of file world.h.

◆ mutex_

std::recursive_mutex robowflex::darts::World::mutex_

private

Internal lock.

Definition at line 312 of file world.h.

◆ name_

const std::string robowflex::darts::World::name_

private

Name of world.

Definition at line 310 of file world.h.

◆ robots_

std::map<std::string, RobotPtr> robowflex::darts::World::robots_

private

Robots in world.

Definition at line 299 of file world.h.

◆ structures_

std::map<std::string, StructurePtr> robowflex::darts::World::structures_

private

Structures in world.

Definition at line 300 of file world.h.

◆ world_

dart::simulation::WorldPtr robowflex::darts::World::world_

private

Underlying world.

Definition at line 294 of file world.h.

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

Classes

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ World()

Member Function Documentation

◆ addRobot()

◆ addSkeletonCollider()

◆ addStructure()

◆ clearIKModules()

◆ clone()

◆ distanceToCollision()

◆ forceUpdate()

◆ getAllValidFilter()

◆ getCollider()

◆ getCollisionInfo()

◆ getDefaultFilter()

◆ getName()

◆ getOtherCollisionGroup()

◆ getRobot()

◆ getRobotConst()

◆ getSelfCollisionGroup()

◆ getSim()

◆ getSimConst()

◆ getSkeletonIndex()

◆ getStructure()

◆ getStructureConst()

◆ getStructures()

◆ getWorkspaceBounds()

◆ getWorkspaceHigh()

◆ getWorkspaceHighConst()

◆ getWorkspaceLow()

◆ getWorkspaceLowConst()

◆ getWorldCollisionFilter()

◆ inCollision()

◆ lock()

◆ openOSGViewer()

◆ removeRobot() [1/2]

◆ removeRobot() [2/2]

◆ removeSkeletonCollider()

◆ removeStructure() [1/2]

◆ removeStructure() [2/2]

◆ unlock()

Member Data Documentation

◆ all_

◆ collider_

◆ collision_

◆ filter_

◆ high_

◆ low_

◆ mutex_

◆ name_

◆ robots_

◆ structures_

◆ world_