simulatedModel Class Reference

This class implements a virtual world for robots where robots can move and observe the environment. More...

#include <simulatedModel.h>

Inheritance diagram for simulatedModel:

List of all members.

Signals
void	changedPositions (rposes poses)
Public Member Functions
	simulatedModel ()
	default constructor
	simulatedModel (int nBots, ConfigFile &configfile, float sampletime)
	constructor
virtual	~simulatedModel ()
	destructor
robotBase *	createNewPlatform ()
void	disablePlatform (const robotBase &r)
double	evaluateVMap (visualMap &vm) const
int	fire (int robot)
landmarksData *	getLandmarksData (int robot)
	returns the landmarks data
int	getNumRobots ()
pose *	getOdometry (int robot)
	returns the robot odometry
const char *	getOMapFileName () const
QPixmap *	getPixmap ()
rposes	getPoses () const
rangeSensorData *	getRangeSensorData (int robot)
	returns the range sensor current data
float	getSampleTime () const
float	getTime () const
void	initialize (int nagents, ConfigFile &configfile, float sampletime)
	initializes a virtual world with "nBots" robots in the scenario "scene" and initial poses given by "test"
void	loadMapFile (const ConfigFile &config)
	load a map file
void	randomPoses (bool group, double maxInitialPoseDist, double minInitialPoseDist)
void	reset ()
void	setLogName (const char *)
	sets the name of the log file
void	setNumRobots (int num)
void	setSpeed (int r, float v, float w)
	sets the linear and angular speed for a robot
Public Attributes
production	synchronizer
	synchronizer
Protected Member Functions
void	redrawing ()
Protected Attributes
float	alfa1
float	alfa2
	odometry params
float	alfa3
	odometry params
float	alfa4
	odometry params
float	aperture
float	betaMAX
double	camx
double	camy
	camera position
double	camz
	camera position
ClMutex	closing
	stop condition
float	Cx
float	Cxp
float	Cy
int	desclength
	wall / obstacles
float	devError
	sonar parameters
float	distMAX
float	distMIN
float	drifttrans
	odometry params
float	elapsedTime
bool	endth
	wall / obstacles
float	f
float	gammaMAX
float	gammamax
pose *	gt
int	height
float	I
int	idCounter
int	imgheight
int	imgwidth
	odometry params
std::vector< feature >	landmarks
	robot positions
pose *	lastgt
pose *	lastodo
landmarksData *	lmData
char *	logstr
bool	mapLoaded
std::vector< line >	mapWall
	landmarks
float	maxDist
int	maxNumRobots
float	maxx
float	maxy
float	minDist
float	minx
float	miny
int	nBots
ClMutex	newIdsMutex
	syncronization mutex on closing
int	numfeat
int	numSensors
	camera position
pose *	odo
gridMapInterface *	omap
char *	omapfilename
robotBase **	rbase
float	RealCx
float	RealCxp
float	RealCy
float	realError
float	Realf
float	RealI
std::vector< double >	robot_footprint
std::vector< pose >	robotPose
std::vector< std::vector< line > >	robots_lines
bool *	robotsEnabled
rangeSensorData *	rsData
double	rx
	camera position
double	ry
	camera position
double	rz
	camera position
float	sample_time
float	scalex
	sensor covariance matrix
float	scaley
matrix	Scam
bool	showsimulation
float	sigma2c
float	sigma2cp
float	sigma2Cx
float	sigma2Cxp
float	sigma2Cy
float	sigma2d
float	sigma2f
float	sigma2I
float	sigma2r
float	sigmac
float	sigmacp
float	sigmaCx
float	sigmaCxp
float	sigmaCy
float	sigmad
float	sigmaf
float	sigmaI
float	sigmar
int	step
speed *	velo
int	width
Private Member Functions
pos3d	base2cam (const pos3d &p)
	translates a position in the robot's frame of reference to the camera frame of reference
pos3d	cam2base (const pos3d &p)
	translates a position in the camera frame of reference to the robot's frame of reference
pose3d	camPose (const pose &robotpose)
	returns the pose of the camera
void	drawRobots (IplImage *&img)
void	execute ()
	primary execution loop
IplImage *	getMapImage ()
void	motionSample (const pose &lastPose, const pose &newPose, const pose &lastodo, pose &newodo)
	creates a new odometry reading
void	onStop ()
	called before stopping
void	robotMotion (pose &pos, const speed &vel, float st)
	moves the robot with speed vel for time st
int	setup ()
	set up for the execution thread
void	simCamAdquisition (const pose &robotpos, landmarksData &lmData, int nr)
	captures features from camPose
void	simRangeAdquisition (const pose &realPose, rangeSensorData &sonarData, int r)
	simulates sonar/laser readings
bool	testVisibility (const pos3d &realPose, const pos3d &mark, int nr)
	auxiliary function to test when a feature is visible or not
void	update_footprint (int r)
float	visibilityDistance (const pose &ori, const pose &dest, int nr)
	returns the distance from ori to dest or the first wall in that direction

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Detailed Description

This class implements a virtual world for robots where robots can move and observe the environment.

Definition at line 59 of file simulatedModel.h.

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

• include/model/simulatedModel.h
• src/model/simulatedModel.cpp