Interface to a cooperative sensor simulation assumed to be executed in a separate thread spawned in addNotification and joined in removeNotification. More...

#include <ISensorEnvironment.h>

Inheritance diagram for agxSDK::ISensorEnvironment:

Public Member Functions
	ISensorEnvironment ()=default
	Default constructor.

virtual	~ISensorEnvironment ()=default
	Destructor.

virtual void	addNotification ()=0
	Called when added to a simulation or explicitly called when the sensor simulation should start.

virtual void	fetchStepResults ()=0
	Block main thread until the sensor simulation is done and the data/results/outputs are accessible.

const Simulation *	getSimulation () const

virtual void	removeNotification ()=0
	Called when removed from a simulation or explicitly called when the sensor simulation should stop/join the main thread.

virtual void	step (agx::Real dt)=0
	Start the sensor simulation and step for delta time `dt`.

virtual void	updateGraphics (const agxRender::RenderManager &renderManager)=0
	Update the graphical components of the sensor environment.

Public Member Functions inherited from agx::Referenced
	Referenced ()
	Default constructor.

	Referenced (const Referenced &)

template<typename T >
T *	as ()
	Subclass casting.

template<typename T >
const T *	as () const

template<typename T >
T *	asSafe ()
	Safe subclass casting, return nullptr if template type does not match.

template<typename T >
const T *	asSafe () const

int	getReferenceCount () const

template<typename T >
bool	is () const
	Subclass test.

Referenced &	operator= (const Referenced &)
	Assignment operator. Will increment the number of references to the referenced object.

void	reference (void *ptr=nullptr) const
	Explicitly increment the reference count by one, indicating that this object has another pointer which is referencing it.

void	unreference (void *ptr=nullptr) const
	Decrement the reference count by one, indicating that a pointer to this object is referencing it.

void	unreference_nodelete () const
	Decrement the reference count by one, indicating that a pointer to this object is referencing it.

Public Member Functions inherited from agxStream::Serializable
virtual	~Serializable ()
	Destructor for normal C++ use but hidden from SWIG bindings.

virtual const char *	getClassName () const

bool	getEnableSerialization () const

bool	getEnableUuidGeneration ()

agx::UInt32	getIndex () const
	This index is given at creation of this object.

virtual StorageAgent *	getStorageAgent () const =0

agx::Uuid	getUuid () const

bool	isFinished () const

void	setEnableSerialization (bool flag)
	Set to false to disable serialization of this object.

void	setFinished ()
	Tells this class that it is restored correctly and should not be deleted during destruction of an Archive.

void	setUuid (const agx::Uuid &uuid)
	Explicitly set a Uuid on a serializable object.

Additional Inherited Members
Static Public Member Functions inherited from agx::Referenced
template<typename T >
static bool	ValidateCast (const Referenced *object)

Static Public Member Functions inherited from agxStream::Serializable
static void	setEnableUuidGeneration (bool flag)
	Specify if there should be UUID:s generated for each new Serializable object. By default it is enabled.

Protected Member Functions inherited from agx::Referenced
virtual	~Referenced ()
	Destructor.

void	allocateObserverVector () const

void	deleteUsingDeleteHandler () const

Protected Member Functions inherited from agxStream::Serializable
	Serializable ()
	Default constructor.

	Serializable (const Serializable &other)
	Copy constructor.

void	generateUuid ()

Static Protected Member Functions inherited from agx::Referenced
static DeleteHandler *	getDeleteHandler ()

static void	setDeleteHandler (DeleteHandler *handler)
	Internal: Set a DeleteHandler to which deletion of all referenced counted objects will be delegated to.

Protected Attributes inherited from agx::Referenced
Mutex	m_mutex

ObserverContainer	m_observers

AtomicValue	m_refCount

Detailed Description

Interface to a cooperative sensor simulation assumed to be executed in a separate thread spawned in addNotification and joined in removeNotification.

The sensor simulation step is called after the user step callback preCollide and spans until user step post (over collision detection, pre callbacks and solve dynamics) when fetchStepResults is called.

I.e., block read data from main resources (e.g., agxSDK::Simulation) in 'step' and activate the simulation thread. Synchronize with main in 'fetchStepResults' so the users can start collecting data in post, last events or outside the simulation loop.

Definition at line 46 of file ISensorEnvironment.h.

Constructor & Destructor Documentation

◆ ISensorEnvironment()

agxSDK::ISensorEnvironment::ISensorEnvironment ( )

default

Default constructor.

◆ ~ISensorEnvironment()

virtual agxSDK::ISensorEnvironment::~ISensorEnvironment ( )

virtualdefault

Destructor.

Member Function Documentation

◆ addNotification()

virtual void agxSDK::ISensorEnvironment::addNotification ( )

pure virtual

Called when added to a simulation or explicitly called when the sensor simulation should start.

This call should create the simulation thread and sleep until 'step' is called.

◆ fetchStepResults()

virtual void agxSDK::ISensorEnvironment::fetchStepResults ( )

pure virtual

Block main thread until the sensor simulation is done and the data/results/outputs are accessible.

◆ getSimulation()

const Simulation * agxSDK::ISensorEnvironment::getSimulation ( ) const

Returns: the simulation this sensor environment belongs to, is nullptr in standalone mode

◆ removeNotification()

virtual void agxSDK::ISensorEnvironment::removeNotification ( )

pure virtual

Called when removed from a simulation or explicitly called when the sensor simulation should stop/join the main thread.

◆ step()

virtual void agxSDK::ISensorEnvironment::step ( agx::Real dt )

pure virtual

Start the sensor simulation and step for delta time dt.

It's safe to read data from the simulation or other reasources synchronized with the main thread.

Parameters

dt	- delta time to step the sensor simulation

◆ updateGraphics()

virtual void agxSDK::ISensorEnvironment::updateGraphics ( const agxRender::RenderManager & renderManager )

pure virtual

Update the graphical components of the sensor environment.

Parameters

renderManager - simulation render manager

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

ISensorEnvironment.h

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ISensorEnvironment()

◆ ~ISensorEnvironment()

Member Function Documentation

◆ addNotification()

◆ fetchStepResults()

◆ getSimulation()

◆ removeNotification()

◆ step()

◆ updateGraphics()