#include <SIG_DynaMechsSimulationQueries.h>
Inheritance diagram for SIGEL_Simulation::SIG_DynaMechsSimulationQueries:
Public Methods | |
SIG_DynaMechsSimulationQueries (SIG_DynaMechsSimulationData& theSimulationData) | |
the constructor. More... | |
void | sense (int sensorNo,QVector<SIG_Register> & registers) const |
Interprets the SENSE command and writes the results into the registers. More... | |
QTime | getActualSimulationTime () const |
gets the actual simulation time which is calculated frame*stepsize. More... | |
DL_vector | getLinkPosition (int linkNo) const |
gets the position of link linkNo. More... | |
DL_matrix | getLinkOrientation (int linkNo) const |
gets the orientation of link linkNo. More... | |
int | getRootNumber () const |
gets the number of the torso link. More... | |
double | getUsedForces () const |
gets the amount of forces enacted this timeframe. More... | |
int | getLinkCount () const |
gets the number of links. More... | |
void | checkDynas () const |
Private Attributes | |
SIG_DynaMechsSimulationData& | simulationData |
the reference to the simulator's simulationData. More... |
Several entities as for example the recorder or the interpreter need to be able to get actual values from the simulator. For this task the class SIG_SimulationQueries is needed. It gives access to relevant simulation data. Its functionality will be expanded as needed by more sophisticated fitness-functions (respectively their recorders). Especially it can be used to query the actual simulation time and the position of each roboter link.
Definition at line 24 of file SIG_DynaMechsSimulationQueries.h.
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the constructor.
Definition at line 18 of file SIG_DynaMechsSimulationQueries.cpp. |
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Reimplemented from SIGEL_Simulation::SIG_SimulationQueries. Definition at line 228 of file SIG_DynaMechsSimulationQueries.cpp. |
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gets the actual simulation time which is calculated frame*stepsize.
Reimplemented from SIGEL_Simulation::SIG_SimulationQueries. Definition at line 118 of file SIG_DynaMechsSimulationQueries.cpp. |
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gets the number of links.
Reimplemented from SIGEL_Simulation::SIG_SimulationQueries. Definition at line 223 of file SIG_DynaMechsSimulationQueries.cpp. |
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gets the orientation of link linkNo.
Reimplemented from SIGEL_Simulation::SIG_SimulationQueries. Definition at line 168 of file SIG_DynaMechsSimulationQueries.cpp. |
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gets the position of link linkNo.
Reimplemented from SIGEL_Simulation::SIG_SimulationQueries. Definition at line 127 of file SIG_DynaMechsSimulationQueries.cpp. |
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gets the number of the torso link.
Reimplemented from SIGEL_Simulation::SIG_SimulationQueries. Definition at line 212 of file SIG_DynaMechsSimulationQueries.cpp. |
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gets the amount of forces enacted this timeframe.
Reimplemented from SIGEL_Simulation::SIG_SimulationQueries. Definition at line 217 of file SIG_DynaMechsSimulationQueries.cpp. |
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Interprets the SENSE command and writes the results into the registers.
Reimplemented from SIGEL_Simulation::SIG_SimulationQueries. Definition at line 22 of file SIG_DynaMechsSimulationQueries.cpp. |
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the reference to the simulator's simulationData.
Definition at line 30 of file SIG_DynaMechsSimulationQueries.h. |