ErForceSimulator Class Reference

#include <er_force_simulator.h>

Public Member Functions
	ErForceSimulator (const TbotsProto::FieldType &field_type, const RobotConstants_t &robot_constants, std::unique_ptr< RealismConfigErForce > &realism_config, const bool ramping=false, double primitive_executor_time_step_s=DEFAULT_SIMULATOR_TICK_RATE_SECONDS_PER_TICK)
void	setBallState (const BallState &ball_state)
void	setYellowRobots (const std::vector< RobotStateWithId > &robots)
void	setBlueRobots (const std::vector< RobotStateWithId > &robots)
void	setRobots (const std::vector< RobotStateWithId > &robots, gameController::Team team)
void	setRobots (const google::protobuf::Map< uint32_t, TbotsProto::RobotState > &robots, gameController::Team side)
void	setWorldState (const TbotsProto::WorldState &world_state)
void	setYellowRobotPrimitiveSet (const TbotsProto::PrimitiveSet &primitive_set_msg, std::unique_ptr< TbotsProto::World > world_msg)
void	setBlueRobotPrimitiveSet (const TbotsProto::PrimitiveSet &primitive_set_msg, std::unique_ptr< TbotsProto::World > world_msg)
void	stepSimulation (const Duration &time_step)
std::vector< TbotsProto::RobotStatus >	getBlueRobotStatuses () const
std::vector< TbotsProto::RobotStatus >	getYellowRobotStatuses () const
std::vector< SSLProto::SSL_WrapperPacket >	getSSLWrapperPackets () const
world::SimulatorState	getSimulatorState () const
Field	getField () const
Timestamp	getTimestamp () const
void	resetCurrentTime ()

Static Public Member Functions
static std::unique_ptr< RealismConfigErForce >	createDefaultRealismConfig ()
static std::unique_ptr< RealismConfigErForce >	createRealisticRealismConfig ()

Detailed Description

The ErForceSimulator abstracts away the physics simulation of all objects in the world, as well as the firmware simulation for the robots. This provides a simple interface to setup, run, and query the current state of the simulation.

Constructor & Destructor Documentation

ErForceSimulator()

ErForceSimulator ( const TbotsProto::FieldType &  field_type, const RobotConstants_t &  robot_constants, std::unique_ptr< RealismConfigErForce > &  realism_config, const bool  ramping = false, double  primitive_executor_time_step_s = DEFAULT_SIMULATOR_TICK_RATE_SECONDS_PER_TICK  )

explicit

Creates a new Simulator. The starting state of the simulation will have the given field, with no robots or ball.

Parameters

field_type	The field type
robot_constants	The robot constants
realism_config	realism configuration

Member Function Documentation

createDefaultRealismConfig()

std::unique_ptr< RealismConfigErForce > createDefaultRealismConfig ( )

static

Creates the default realism config using erforce simulator's default config

Returns

a pointer to default realism config

createRealisticRealismConfig()

std::unique_ptr< RealismConfigErForce > createRealisticRealismConfig ( )

static

Creates the realistic realism config

Returns

a pointer to realistic realism config

getBlueRobotStatuses()

std::vector< TbotsProto::RobotStatus > getBlueRobotStatuses

(

)

const

Gets the blue and yellow robot statuses

Returns

a vector of robot statuses from either blue or yellow robots

getField()

Field getField

(

)

const

Returns the field in the simulation

Returns

the field in the simulation

getSimulatorState()

world::SimulatorState getSimulatorState

(

)

const

Returns the current Simulator State

getSSLWrapperPackets()

std::vector< SSLProto::SSL_WrapperPacket > getSSLWrapperPackets

(

)

const

Returns the most recent SSL Wrapper Packets

Returns

vector of SSLProto::SSL_WrapperPackets representing the most recent state of the simulation

getTimestamp()

Timestamp getTimestamp

(

)

const

Returns the current time in the simulation

Returns

the current time in the simulation

resetCurrentTime()

void resetCurrentTime

(

)

Resets the current time to 0

setBallState()

void setBallState

(

const BallState &

ball_state

)

Sets the state of the ball in the simulation. No more than 1 ball may exist in the simulation at a time. If a ball does not already exist, a ball is added with the given state. If a ball already exists, it's state is set to the given state.

Parameters

ball_state

The new ball state

setWorldState()

void setWorldState

(

const TbotsProto::WorldState &

world_state

)

Set the world state from a WorldState proto in the simulation.

Parameters

world_state

The new WorldState

setYellowRobotPrimitiveSet()

void setYellowRobotPrimitiveSet	(	const TbotsProto::PrimitiveSet &	primitive_set_msg,
		std::unique_ptr< TbotsProto::World >	world_msg
	)

Sets the primitive being simulated by the robot on the corresponding team in simulation

Parameters

primitive_set_msg	The set of primitives to run on the robot
world_msg	The world message

setYellowRobots()

void setYellowRobots

(

const std::vector< RobotStateWithId > &

robots

)

Adds robots to the specified team with the given initial states.

Precondition

The robot IDs must not be duplicated and must not match the ID of any robot already on the specified team.

Exceptions

runtime_error

if any of the given robot ids are duplicated, or a robot already exists on the specified team with one of the new IDs

Parameters

robots

the robots to add

stepSimulation()

void stepSimulation

(

const Duration &

time_step

)

Advances the simulation by the given time step.

Parameters

time_step

how much to advance the simulation by

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

• src/software/simulation/er_force_simulator.h
• src/software/simulation/er_force_simulator.cpp