Sensor environment implementation where different sensors collects data given a set of added objects, such as rigid bodies, geometries, shapes, wires, cables, terrains, etc. More...

#include <Environment.h>

Inheritance diagram for agxSensor::Environment:

Public Member Functions
	Environment ()
	Default constructor - the default sensor systems will be added.

virtual	~Environment ()
	Destructor.

bool	add (agx::RigidBody *rb)
	Add rigid body to be visible to sensors in this sensor environment.

bool	add (agxCollide::Geometry *geometry)
	Add geometry to be visible to sensors in this sensor environment.

bool	add (agxCollide::Shape *shape)
	Add shape to be visible to sensors in this sensor environment.

bool	add (agxModel::DeformableObject *deformable)
	Add deformable object to be visible to sensors in this sensor environment.

bool	add (agxSDK::LinkedStructure *linkedStructure)
	Add agxCable::Cable, agxVehicle::Track, agxModel::Beam, ..., to be visible to sensors in this sensor environment.

bool	add (agxTerrain::Terrain *terrain)
	Add terrain to be visible to sensors in this sensor environment.

bool	add (agxTerrain::TerrainPager *pager)
	Add terrain pager to be visible to sensors in this sensor environment.

bool	add (agxWire::Wire *wire)
	Add wire to be visible to sensors in this sensor environment.

bool	add (SystemNode *system)
	Add system root node (normally an implementation of a sensor) to this sensor environment.

MagneticField *	getMagneticField ()

const MagneticField *	getMagneticField () const

RtSceneRef	getScene () const

bool	remove (agx::RigidBody *rb)
	Remove the rigid body, and all its geometries, from this sensor environment.

bool	remove (agxCollide::Geometry *geometry)
	Remove geometry, and all its shapes, from this sensor environment.

bool	remove (agxCollide::Shape *shape)
	Remove shape from this sensor environment.

bool	remove (agxModel::DeformableObject *deformable)
	Remove deformable object from this sensor environment.

bool	remove (agxSDK::LinkedStructure *linkedStructure)
	Remove linked structure (agxCable::Cable, agxVehicle::Track, agxModel::Beam, ...) from this sensor environment.

bool	remove (agxTerrain::Terrain *terrain)
	Remove terrain from this sensor environment.

bool	remove (agxTerrain::TerrainPager *pager)
	Remove terrain pager from this sensor environment.

bool	remove (agxWire::Wire *wire)
	Remove wire from this sensor environment.

bool	remove (SystemNode *system)
	Remove system root node (sensor) from this sensor environment.

void	setMagneticField (MagneticField *magneticField)
	Set environment magnetic field.

Public Member Functions inherited from agxSDK::ISensorEnvironment
	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.

Static Public Member Functions
static Environment *	get (agxSDK::Simulation *simulation)

static const Environment *	get (const agxSDK::Simulation *simulation)

static Environment *	getOrCreate (agxSDK::Simulation *simulation)
	Returns an existing or creates and initializes a new instance of a sensor environment given a `simulation`.

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.

Additional Inherited Members
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

Sensor environment implementation where different sensors collects data given a set of added objects, such as rigid bodies, geometries, shapes, wires, cables, terrains, etc.

This sensor environment can be run in cooperative mode with an agxSDK::Simulation instance (normal use case) or standalone and is always integrated in its own thread.

In cooperative mode, the stepping/integration of the sensor environment starts after the simulation step event 'preCollide'. New/updated sensor data is available from the simulation step event 'post'. This means that any changes, such as updated transforms or configuration changes, has to be made before calling simulation 'stepForward' or in a 'preCollide' step event.

Important: When the sensor environment is integrated in its own thread it's undefined to interact with sensors and/or adding removing objects during the collision detection, contact event callbacks, pre step events and dynamics solvers integrations. Data access and object/sensor modifications are safe to do in post step events, post contact events, last step events and outside of 'stepForward'.

To create or access a sensor simulation using agxSDK::Simulation, do:

Cooperative: agxSensor::Environment* sensorEnv = agxSensor::Environment::getOrCreate( simulation ); simulation->stepForward(); // Will step the sensor environment.

OR (also cooperative) agxSensor::EnvironmentRef sensorEnv = new agxSensor::Environment(); simulation->setSensorEnvironment( sensorEnv ); simulation->stepForward(); // Will step the sensor environment.

Standalone: agxSensor::EnvironmentRef sensorEnv = new agxSensor::Environment(); sensorEnv->addNotification(); // Important, will create a separate thread that the sensor environment is integrated in. while ( !done ) { sensorEnv->step( 0.0166667 ); // Read data from added objects and start the sensor environment simulation step - in the thread created in addNotification. ... // Do other things. sensorEnv->fetchStepResults(); // Blocking until the sensor environment has been integrated and new sensor output data is available. }

Definition at line 112 of file agxSensor/Environment.h.

Constructor & Destructor Documentation

◆ Environment()

agxSensor::Environment::Environment ( )

Default constructor - the default sensor systems will be added.

◆ ~Environment()

virtual agxSensor::Environment::~Environment ( )

virtual

Destructor.

Member Function Documentation

◆ add() [1/9]

bool agxSensor::Environment::add ( agx::RigidBody * rb )

Add rigid body to be visible to sensors in this sensor environment.

All geometries (and shapes) of the given rigid body will also be added and visible to sensors. If added successfully, a reference to the rigid body will be held until the rigid body is removed or when this sensor environment is removed from its cooperative simulation (or explicit call to removeNotification for standalone).

Parameters

rb	- rigid body instance (and its geometries) to add

Returns: true if the rigid body is successfully added, otherwise false

◆ add() [2/9]

bool agxSensor::Environment::add ( agxCollide::Geometry * geometry )

Add geometry to be visible to sensors in this sensor environment.

All shapes of the given geometry will also be added and visible to sensors. If added successfully, a reference to the geometry will be held until the geometry is removed or when this sensor environment is removed from its cooperative simulation (or explicit call to removeNotification for standalone).

Parameters

geometry - geometry instance (and its shapes) to add

Returns: true if the geometry is successfully added, otherwise false

◆ add() [3/9]

bool agxSensor::Environment::add ( agxCollide::Shape * shape )

Add shape to be visible to sensors in this sensor environment.

If added successfully, a reference to the shape will be held until the shape is removed or when this sensor environment is removed from its cooperative simulation (or explicit call to removeNotification for standalone).

Parameters

shape - shape instance to add

Returns: true if the shape is successfully added, otherwise false

◆ add() [4/9]

bool agxSensor::Environment::add ( agxModel::DeformableObject * deformable )

Add deformable object to be visible to sensors in this sensor environment.

If added successfully, a reference to the deformable will be held until the deformable is removed or when this sensor environment is removed from its cooperative simulation (or explicit call to removeNotification for standalone).

Parameters

deformable - deformable instance to add

Returns: true if the deformable is successfully added, otherwise false

◆ add() [5/9]

bool agxSensor::Environment::add ( agxSDK::LinkedStructure * linkedStructure )

Add agxCable::Cable, agxVehicle::Track, agxModel::Beam, ..., to be visible to sensors in this sensor environment.

The wheels (agxVehicle::TrackWheel) of agxVehicle::Track instances are added as separate rigid bodies during this call, but can be removed separately if they shouldn't be visible to sensors, e.g., sensorEnv->remove( wheel4->getRigidBody() ). If added successfully, a reference to the linked structure will be held until the linked structure is removed or when this sensor environment is removed from its cooperative simulation (or explicit call to removeNotification for standalone).

Parameters

linkedStructure - agxCable::Cable, agxVehicle::Track, agxModel::Beam, ..., instance to add

Returns: true if the linked structure is successfully added, otherwise false

◆ add() [6/9]

bool agxSensor::Environment::add ( agxTerrain::Terrain * terrain )

Add terrain to be visible to sensors in this sensor environment.

The granular bodies and topology changes will be reflected and visible to the sensors and the active granular bodies will inherit the surface material (or other) properties of this given terrain instance. If added successfully, a reference to the terrain will be held until the terrain is removed or when this sensor environment is removed from its cooperative simulation (or explicit call to removeNotification for standalone).

Parameters

terrain - terrain instance to add

Returns: true if the terrain is successfully added, otherwise false

◆ add() [7/9]

bool agxSensor::Environment::add ( agxTerrain::TerrainPager * pager )

Add terrain pager to be visible to sensors in this sensor environment.

The granular bodies and topology changes will be reflected and visible to the sensors and the active granular bodies will inherit the surface material (or other) properties of this given terrain pager instance. If added successfully, a reference to the terrain pager will be held until the terrain pager is removed or when this sensor environment is removed from its cooperative simulation (or explicit call to removeNotification for standalone).

Parameters

pager - terrain pager instance to add

Returns: true if the terrain pager is successfully added, otherwise false

◆ add() [8/9]

bool agxSensor::Environment::add ( agxWire::Wire * wire )

Add wire to be visible to sensors in this sensor environment.

If added successfully, a reference to the wire will be held until the wire is removed or when this sensor environment is removed from its cooperative simulation (or explicit call to removeNotification for standalone).

Parameters

wire	- wire instance to add

Returns: true if the wire is successfully added, otherwise false

◆ add() [9/9]

bool agxSensor::Environment::add ( SystemNode * system )

Add system root node (normally an implementation of a sensor) to this sensor environment.

If added successfully, the system will receive calls to 'synchronize', from the main thread, and 'execute', from the sensor environment thread, each step.

Parameters

system - system to add

Returns: true if successfully added, otherwise false (nullptr or initialization failed)

◆ get() [1/2]

static Environment * agxSensor::Environment::get ( agxSDK::Simulation * simulation )

static

Parameters

simulation - simulation instance for the sensor environment

Returns: the sensor environment for the given simulation instance, nullptr if simulation hasn't been assigned one

See also: getOrCreate

◆ get() [2/2]

static const Environment * agxSensor::Environment::get ( const agxSDK::Simulation * simulation )

static

Parameters

simulation - simulation instance for the sensor environment

Returns: the sensor environment for the given simulation instance, nullptr if simulation hasn't been assigned one

See also: getOrCreate

◆ getMagneticField() [1/2]

MagneticField * agxSensor::Environment::getMagneticField ( )

Returns: the magnetic field in the sensor environment

◆ getMagneticField() [2/2]

const MagneticField * agxSensor::Environment::getMagneticField ( ) const

Returns: the magnetic field in the sensor environment

◆ getOrCreate()

static Environment * agxSensor::Environment::getOrCreate ( agxSDK::Simulation * simulation )

static

Returns an existing or creates and initializes a new instance of a sensor environment given a simulation.

This method will only return nullptr if the given simulation is nullptr.

Parameters

simulation - simulation instance for the sensor environment

Returns: sensor environment for the given simulation instance, nullptr if simulation is nullptr

◆ getScene()

RtSceneRef agxSensor::Environment::getScene ( ) const

Returns: the raytrace scene, possible to assign ambient/atmosphere material

◆ remove() [1/9]

bool agxSensor::Environment::remove ( agx::RigidBody * rb )

Remove the rigid body, and all its geometries, from this sensor environment.

The rigid body will no longer be visible to sensors.

Parameters

rb	- rigid body instance to remove

Returns: true if previously successfully added, otherwise false (nullptr or not previously added)

◆ remove() [2/9]

bool agxSensor::Environment::remove ( agxCollide::Geometry * geometry )

Remove geometry, and all its shapes, from this sensor environment.

The geometry will no longer be visible to sensors.

Parameters

geometry - geometry instance to remove

Returns: true if previously successfully added, otherwise false (nullptr or not previously added)

◆ remove() [3/9]

bool agxSensor::Environment::remove ( agxCollide::Shape * shape )

Remove shape from this sensor environment.

The shape will no longer be visible to sensors.

Parameters

shape - shape instance to remove

Returns: true if previously successfully added, otherwise false (nullptr or not previously added)

◆ remove() [4/9]

bool agxSensor::Environment::remove ( agxModel::DeformableObject * deformable )

Remove deformable object from this sensor environment.

The deformable will no longer be visible to sensors.

Parameters

deformable - deformable instance to remove

Returns: true if previously successfully added, otherwise false (nullptr or not previously added)

◆ remove() [5/9]

bool agxSensor::Environment::remove ( agxSDK::LinkedStructure * linkedStructure )

Remove linked structure (agxCable::Cable, agxVehicle::Track, agxModel::Beam, ...) from this sensor environment.

The linked structure will no longer be visible to sensors. The wheels of agxVehicle::Track instances will also be removed.

Parameters

linkedStructure - linked structure instance to remove

Returns: true if previously successfully added, otherwise false (nullptr or not previously added)

◆ remove() [6/9]

bool agxSensor::Environment::remove ( agxTerrain::Terrain * terrain )

Remove terrain from this sensor environment.

The terrain will no longer be visible to sensors.

Parameters

terrain - terrain instance to remove

Returns: true if previously successfully added, otherwise false (nullptr or not previously added)

◆ remove() [7/9]

bool agxSensor::Environment::remove ( agxTerrain::TerrainPager * pager )

Remove terrain pager from this sensor environment.

The terrain pager will no longer be visible to sensors.

Parameters

pager - terrain pager instance to remove

Returns: true if previously successfully added, otherwise false (nullptr or not previously added)

◆ remove() [8/9]

bool agxSensor::Environment::remove ( agxWire::Wire * wire )

Remove wire from this sensor environment.

The wire will no longer be visible to sensors.

Parameters

wire	- wire instance to remove

Returns: true if previously successfully added, otherwise false (nullptr or not previously added)

◆ remove() [9/9]

bool agxSensor::Environment::remove ( SystemNode * system )

Remove system root node (sensor) from this sensor environment.

Parameters

system - system to remove

Returns: true if removed, otherwise false (nullptr or not present in this sensor environment)

◆ setMagneticField()

void agxSensor::Environment::setMagneticField ( MagneticField * magneticField )

Set environment magnetic field.

Parameters

magneticField - magnetic field to span the environment, nullptr removes the current magnetic field

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

agxSensor/Environment.h

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Environment()

◆ ~Environment()

Member Function Documentation

◆ add() [1/9]

◆ add() [2/9]

◆ add() [3/9]

◆ add() [4/9]

◆ add() [5/9]

◆ add() [6/9]

◆ add() [7/9]

◆ add() [8/9]

◆ add() [9/9]

◆ get() [1/2]

◆ get() [2/2]

◆ getMagneticField() [1/2]

◆ getMagneticField() [2/2]

◆ getOrCreate()

◆ getScene()

◆ remove() [1/9]

◆ remove() [2/9]

◆ remove() [3/9]

◆ remove() [4/9]

◆ remove() [5/9]

◆ remove() [6/9]

◆ remove() [7/9]

◆ remove() [8/9]

◆ remove() [9/9]

◆ setMagneticField()