#include <SIG_Simulation.h>
Inheritance diagram for SIGEL_Simulation::SIG_Simulation:
Public Methods | |
SIG_Simulation ( SIGEL_Robot::SIG_Robot const & robot, SIGEL_Environment::SIG_Environment const & environment, SIGEL_Program::SIG_Program const & robotProgram, SIG_SimulationParameters const & simulationParameter, SIG_Recorder & theRecorder) | |
The constructor of the SIG_Simulation class. More... | |
void | start () throw (SIGEL_Simulation::SIG_SimulationCannotSolveException) |
Starts the simulation. More... | |
void | makeTimeSteps ( int numTimeSteps ) throw (SIGEL_Simulation::SIG_SimulationCannotSolveException) |
Performs a certain number of time steps given by numTimeSteps. More... | |
Public Slots | |
void | slotDynamoMessage (QString theMessage) |
This slot will catch a message from Dynamo. More... | |
Private Attributes | |
bool | stopSimulation |
if this boolean is true, the Simulation will stop. More... | |
SIG_Recorder& | recorder |
A recorder to record data. More... | |
SIG_CommandInterface* | commandInterface |
The commandInterface used for example to propagate move commands to the simulation. More... | |
SIG_SimulationData* | simulationData |
The representation of the simulation data. More... | |
SIG_SimulationQueries* | simulationQueries |
The interface used to query the simulation for example about the actual simulation time. More... | |
SIG_Interpreter* | interpreter |
The interpreter used to interpret the programs. More... |
One SIG_Simulation object contains the complete information about one simulation run and the method how to record data about the simulation sun in each frame. This implies that two simulation objects constructed with the same parameters should result in the same simulation run and the same set of recorded data.
Definition at line 36 of file SIG_Simulation.h.
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The constructor of the SIG_Simulation class. When being constructed the simulation gets all the relevant data neccessary for the the simulation. This includes the robot, the environment, the robot program, the simulation parameters as well as a recorder to record data.
Definition at line 11 of file SIG_Simulation.cpp. |
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Performs a certain number of time steps given by numTimeSteps. This function will be called several times by the start-function as long as the elapsed time is less than the amount of time that the simulation should run.
Definition at line 79 of file SIG_Simulation.cpp. |
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This slot will catch a message from Dynamo. (which was thrown in SIG_DynaSystem) Definition at line 105 of file SIG_Simulation.cpp. Referenced by SIG_Simulation(). |
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Starts the simulation. Starts the simulation and calls makeTimeSteps as often as neccessary, so that a complete simulation run is performed. The duration of this run is specified in the simulationParameter object given in the constructor.
Definition at line 63 of file SIG_Simulation.cpp. Referenced by SIGEL_GP::SIG_GPSimpleFitnessFunction::evalFitness(). |
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The commandInterface used for example to propagate move commands to the simulation.
Definition at line 111 of file SIG_Simulation.h. |
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The interpreter used to interpret the programs.
Definition at line 129 of file SIG_Simulation.h. |
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A recorder to record data. A derived class from SIG_Recorder which will record data at the beginning, during and at the end of the simulation. Definition at line 106 of file SIG_Simulation.h. |
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The representation of the simulation data. The simulation data cannot be access directly by any of the other classes. They have to use the interfaces SIG_SimulationQueries and SIG_CommandInterface to manipulate it. Definition at line 119 of file SIG_Simulation.h. |
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The interface used to query the simulation for example about the actual simulation time.
Definition at line 124 of file SIG_Simulation.h. |
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if this boolean is true, the Simulation will stop.
Definition at line 98 of file SIG_Simulation.h. |