#include <SIG_SimulationQueries.h>
Inheritance diagram for SIGEL_Simulation::SIG_SimulationQueries:
Public Methods | |
SIG_SimulationQueries () | |
the constructor. More... | |
virtual void | sense (int sensorNo,QVector<SIG_Register> & registers) const = 0 |
Interprets the SENSE command and writes the results into the registers. | |
virtual QTime | getActualSimulationTime () const = 0 |
gets the actual simulation time which is calculated frame*stepsize. More... | |
virtual DL_vector | getLinkPosition (int linkNo) const = 0 |
gets the position of link linkNo. More... | |
virtual DL_matrix | getLinkOrientation (int linkNo) const = 0 |
gets the orientation of link linkNo. More... | |
virtual int | getRootNumber () const = 0 |
gets the number of the torso link. More... | |
virtual double | getUsedForces () const = 0 |
gets the amount of forces enacted this timeframe. More... | |
virtual int | getLinkCount () const = 0 |
gets the number of links. More... | |
virtual void | checkDynas () const = 0 |
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_SimulationQueries.h.
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the constructor.
Definition at line 14 of file SIG_SimulationQueries.cpp. |
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gets the actual simulation time which is calculated frame*stepsize.
Reimplemented in SIGEL_Simulation::SIG_DynaMechsSimulationQueries, and SIGEL_Simulation::SIG_DynaMoSimulationQueries. |
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gets the number of links.
Reimplemented in SIGEL_Simulation::SIG_DynaMechsSimulationQueries, and SIGEL_Simulation::SIG_DynaMoSimulationQueries. |
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gets the orientation of link linkNo.
Reimplemented in SIGEL_Simulation::SIG_DynaMechsSimulationQueries, and SIGEL_Simulation::SIG_DynaMoSimulationQueries. |
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gets the position of link linkNo.
Reimplemented in SIGEL_Simulation::SIG_DynaMechsSimulationQueries, and SIGEL_Simulation::SIG_DynaMoSimulationQueries. |
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gets the number of the torso link.
Reimplemented in SIGEL_Simulation::SIG_DynaMechsSimulationQueries, and SIGEL_Simulation::SIG_DynaMoSimulationQueries. |
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gets the amount of forces enacted this timeframe.
Reimplemented in SIGEL_Simulation::SIG_DynaMechsSimulationQueries, and SIGEL_Simulation::SIG_DynaMoSimulationQueries. |