#include <space.h>

Inheritance diagram for argos::CSpace:

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Collaboration diagram for argos::CSpace:

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Public Types
typedef std::map< std::string, CAny, std::less< std::string > >	TMapPerType
	A map of entities indexed by type description. More...

typedef std::map< std::string, TMapPerType, std::less< std::string > >	TMapPerTypePerId
	A map of entities indexed by type description and by id. More...

typedef std::function< void(CControllableEntity *)>	TControllableEntityIterCBType
	The callback type for iteration over controllable entities within the PreStep() and/or PostStep() parts of the CLoopFunctions, making the threads used by ARGoS accessible therein. More...

Public Member Functions
	CSpace ()
	Class constructor. More...

virtual	~CSpace ()
	Class destructor. More...

virtual void	Init (TConfigurationNode &t_tree)
	Initializes the space using the `<arena>` section of the XML configuration file. More...

virtual void	Reset ()
	Reset the space and all its entities. More...

virtual void	Destroy ()
	Destroys the space and all its entities. More...

UInt32	GetNumberEntities () const
	Returns the number of entities contained in the space. More...

CEntity::TVector &	GetEntityVector ()
	Returns a vector of all the entities in the space. More...

CEntity::TVector &	GetRootEntityVector ()
	Returns a vector of all the root entities in the space. More...

CEntity &	GetEntity (const std::string &str_id)
	Returns the entity with the given id. More...

void	GetEntitiesMatching (CEntity::TVector &t_buffer, const std::string &str_pattern)
	Returns the entities matching a given pattern. More...

CEntity::TMap &	GetEntityMapPerId ()
	Returns a map of all entities ordered by id. More...

TMapPerTypePerId &	GetEntityMapPerTypePerId ()
	Returns a nested map of entities, ordered by type and by id. More...

TMapPerType &	GetEntitiesByType (const std::string &str_type)
	Returns a map containing all the objects of a given type. More...

const TMapPerType &	GetEntitiesByType (const std::string &str_type) const

CFloorEntity &	GetFloorEntity ()
	Returns the floor entity. More...

void	SetFloorEntity (CFloorEntity &c_floor_entity)
	Sets the floor entity. More...

virtual void	Update ()
	Updates the space. More...

template<typename ENTITY >
void	AddEntity (ENTITY &c_entity)
	Adds an entity of the given type. More...

template<typename ENTITY >
void	RemoveEntity (ENTITY &c_entity)
	Removes an entity of the given type. More...

UInt32	GetSimulationClock () const
	Returns the current value of the simulation clock. More...

void	SetSimulationClock (UInt32 un_simulation_clock)
	Sets a new value for the simulation clock. More...

void	IncreaseSimulationClock (UInt32 un_increase=1)
	Increases the simulation clock by the wanted value. More...

const CVector3 &	GetArenaSize () const
	Returns the arena size. More...

void	SetArenaSize (const CVector3 &c_size)
	Sets the arena size. More...

const CVector3 &	GetArenaCenter () const
	Returns the arena center. More...

void	SetArenaCenter (const CVector3 &c_center)
	Sets the arena center. More...

const CRange< CVector3 > &	GetArenaLimits () const
	Returns the arena limits. More...

virtual void	AddControllableEntity (CControllableEntity &c_entity)

virtual void	RemoveControllableEntity (CControllableEntity &c_entity)

virtual void	AddEntityToPhysicsEngine (CEmbodiedEntity &c_entity)

virtual void	IterateOverControllableEntities (const TControllableEntityIterCBType &c_cb)=0
	Given a callback specified in the loop functions, iterate over all controllable entities currently present in the arena (including those that are currently disabled). More...

Public Member Functions inherited from argos::CBaseConfigurableResource
virtual	~CBaseConfigurableResource ()
	Class destructor. More...

Protected Member Functions
virtual void	UpdateControllableEntitiesAct ()=0

virtual void	UpdatePhysics ()=0

virtual void	UpdateMedia ()=0

virtual void	UpdateControllableEntitiesSenseStep ()=0

virtual void	ControllableEntityIterationWaitAbort ()
	If the loop functions do not perform entity iteration in either of the PreStep() or PostStep() functions, then the threads which are currently waiting for the "go" signal from the loop functions need to be told in CSpace::Update() that they should stop waiting and start the next phase of the per-timestep updates. More...

void	Distribute (TConfigurationNode &t_tree)

void	AddBoxStrip (TConfigurationNode &t_tree)

bool	ControllableEntityIterationEnabled () const

Protected Attributes
CSimulator &	m_cSimulator

UInt32	m_unSimulationClock
	The current simulation clock. More...

CVector3	m_cArenaCenter
	Arena center. More...

CVector3	m_cArenaSize
	Arena size. More...

CRange< CVector3 >	m_cArenaLimits
	Arena limits. More...

CEntity::TVector	m_vecEntities
	A vector of entities. More...

CEntity::TVector	m_vecRootEntities
	A vector of all the entities without a parent. More...

CEntity::TMap	m_mapEntitiesPerId
	A map of entities. More...

TMapPerTypePerId	m_mapEntitiesPerTypePerId
	A map of maps of all the simulated entities. More...

CControllableEntity::TVector	m_vecControllableEntities
	A vector of controllable entities. More...

CFloorEntity *	m_pcFloorEntity
	The floor entity. More...

CPhysicsEngine::TVector *	m_ptPhysicsEngines
	A pointer to the list of physics engines. More...

CMedium::TVector *	m_ptMedia
	A pointer to the list of media. More...

TControllableEntityIterCBType	m_cbControllableEntityIter {nullptr}
	Callback for iterating over entities from within the loop functions. More...

Detailed Description

Definition at line 32 of file space.h.

Member Typedef Documentation

◆ TControllableEntityIterCBType

typedef std::function<void(CControllableEntity*)> argos::CSpace::TControllableEntityIterCBType

The callback type for iteration over controllable entities within the PreStep() and/or PostStep() parts of the CLoopFunctions, making the threads used by ARGoS accessible therein.

See also: CLoopFunctions::PreStep(); CLoopFunctions::PostStep(); IterateOverControllableEntities()

Definition at line 90 of file space.h.

◆ TMapPerType

typedef std::map<std::string, CAny, std::less <std::string> > argos::CSpace::TMapPerType

A map of entities indexed by type description.

This map type is particularly useful when one wants to execute operations on a specific entity type. For instance, one could want to get the list of all robots of a specific type, and execute operations for that robot.

The elements in this map are indexed by type description (the string returned by CEntity::GetTypeDescription()). The elements themselves are stored as objects of the CAny class. This is because any_cast() is faster than dynamic_cast, and equally type-safe.

See also: CSpace::GetEntitiesByType(); CEntity::GetTypeDescription(); CAny; any_cast(); TMapPerTypePerId

Definition at line 56 of file space.h.

◆ TMapPerTypePerId

typedef std::map<std::string, TMapPerType, std::less <std::string> > argos::CSpace::TMapPerTypePerId

A map of entities indexed by type description and by id.

This map type is particularly useful when one wants to execute operations on a specific entity type with a specific id. For instance, one could want to operate on a list of robots with a specific type and id, and execute operations for each robot.

The elements in this map are indexed by type description (the string returned by CEntity::GetTypeDescription()), and by id (the string returned by CEntity::GetId()). The elements themselves are stored as objects of the CAny class. This is because any_cast() is faster than dynamic_cast, and equally type-safe.

See also: CSpace::GetEntitiesByType(); CEntity::GetTypeDescription(); CEntity::GetId(); CAny; any_cast()

Definition at line 79 of file space.h.

Constructor & Destructor Documentation

◆ CSpace()

argos::CSpace::CSpace ( )

Class constructor.

Definition at line 27 of file space.cpp.

◆ ~CSpace()

virtual argos::CSpace::~CSpace ( )

inlinevirtual

Class destructor.

Definition at line 105 of file space.h.

Member Function Documentation

◆ AddBoxStrip()

void argos::CSpace::AddBoxStrip ( TConfigurationNode & t_tree )

protected

◆ AddControllableEntity()

void argos::CSpace::AddControllableEntity ( CControllableEntity & c_entity )

virtual

Reimplemented in argos::CSpaceMultiThreadBalanceQuantity.

Definition at line 167 of file space.cpp.

◆ AddEntity()

template<typename ENTITY >

void argos::CSpace::AddEntity ( ENTITY & c_entity )

inline

Adds an entity of the given type.

This method is used internally, don't use it in your code. throws CARGoSException if the entity id already exists in the space indexes.

Definition at line 274 of file space.h.

◆ AddEntityToPhysicsEngine()

void argos::CSpace::AddEntityToPhysicsEngine ( CEmbodiedEntity & c_entity )

virtual

Definition at line 186 of file space.cpp.

◆ ControllableEntityIterationEnabled()

bool argos::CSpace::ControllableEntityIterationEnabled ( ) const

inlineprotected

Definition at line 449 of file space.h.

◆ ControllableEntityIterationWaitAbort()

virtual void argos::CSpace::ControllableEntityIterationWaitAbort ( void )

inlineprotectedvirtual

If the loop functions do not perform entity iteration in either of the PreStep() or PostStep() functions, then the threads which are currently waiting for the "go" signal from the loop functions need to be told in CSpace::Update() that they should stop waiting and start the next phase of the per-timestep updates.

Unused if ARGoS was not configured to use threads in the input file.

See also: Update()

Definition at line 443 of file space.h.

◆ Destroy()

void argos::CSpace::Destroy ( )

virtual

Destroys the space and all its entities.

Implements argos::CBaseConfigurableResource.

Reimplemented in argos::CSpaceMultiThreadBalanceQuantity, and argos::CSpaceMultiThreadBalanceLength.

Definition at line 85 of file space.cpp.

◆ Distribute()

void argos::CSpace::Distribute ( TConfigurationNode & t_tree )

protected

Definition at line 433 of file space.cpp.

◆ GetArenaCenter()

const CVector3& argos::CSpace::GetArenaCenter ( ) const

inline

Returns the arena center.

Returns: the arena center.

Definition at line 389 of file space.h.

◆ GetArenaLimits()

const CRange<CVector3>& argos::CSpace::GetArenaLimits ( ) const

inline

Returns the arena limits.

The arena limits are defined by arena center - arena size and arena center - arena size.

Returns: the arena limits.

Definition at line 409 of file space.h.

◆ GetArenaSize()

const CVector3& argos::CSpace::GetArenaSize ( ) const

inline

Returns the arena size.

Returns: the arena size.

Definition at line 371 of file space.h.

◆ GetEntitiesByType() [1/2]

TMapPerType& argos::CSpace::GetEntitiesByType ( const std::string & str_type )

inline

Returns a map containing all the objects of a given type.

The 'type' here refers to the string returned by CEntity::GetTypeDescription(). Take this example: CSpace::TMapPerType& theMap = space.GetEntitiesByType("box"); CBoxEntity* box = any_cast<CBoxEntity*>(theMap["my_box"]); // do stuff with the box ...

Parameters

str_type The wanted type to search for.

Returns: A map containing all the objects of a given type.

Exceptions

CARGoSException if the given type is not valid.

See also: CEntity::GetTypeDescription(); TMapPerType; GetEntityMapPerTypePerId()

Definition at line 226 of file space.h.

◆ GetEntitiesByType() [2/2]

const TMapPerType& argos::CSpace::GetEntitiesByType ( const std::string & str_type ) const

inline

Definition at line 230 of file space.h.

◆ GetEntitiesMatching()

void argos::CSpace::GetEntitiesMatching	(	CEntity::TVector &	t_buffer,
		const std::string &	str_pattern
	)

Returns the entities matching a given pattern.

The pattern must be a valid regexp.

Parameters

t_buffer	A vector filled with all the entities that match the given pattern.
str_pattern	The pattern to match.

Returns: The entity with the given id.

Exceptions

CARGoSException if the regexp is not valid.

Definition at line 95 of file space.cpp.

◆ GetEntity()

CEntity& argos::CSpace::GetEntity ( const std::string & str_id )

inline

Returns the entity with the given id.

Parameters

str_id The id of the wanted entity

Returns: The entity with the given id.

Exceptions

CARGoSException if an entity with the wanted id does not exist

Definition at line 160 of file space.h.

◆ GetEntityMapPerId()

CEntity::TMap& argos::CSpace::GetEntityMapPerId ( )

inline

Returns a map of all entities ordered by id.

Returns: a map of all entities ordered by id.

Definition at line 184 of file space.h.

◆ GetEntityMapPerTypePerId()

TMapPerTypePerId& argos::CSpace::GetEntityMapPerTypePerId ( )

inline

Returns a nested map of entities, ordered by type and by id.

The 'type' here refers to the string returned by CEntity::GetTypeDescription(). Take this example: CSpace::TMapPerTypePerId& theMap = space.GetEntityMapPerTypePerId(); // theMap["box"] is a CSpace::TMapPerType containing all the box entities, ordered by id // theMap["led"] is a CSpace::TMapPerType containing all the led entities, ordered by id // etc. CBoxEntity* box = any_cast<CBoxEntity*>(theMap["box"]["my_box_22"]); // do stuff with the box ...

Returns: a nested map of entities, ordered by type and by id.

See also: CEntity::GetTypeDescription(); TMapPerTypePerId; GetEntitiesByType()

Definition at line 205 of file space.h.

◆ GetEntityVector()

CEntity::TVector& argos::CSpace::GetEntityVector ( )

inline

Returns a vector of all the entities in the space.

All entities are returned, i.e., all the components of a robot.

Returns: a vector of all the entities in the space.

See also: GetRootEntityVector()

Definition at line 136 of file space.h.

◆ GetFloorEntity()

CFloorEntity& argos::CSpace::GetFloorEntity ( )

inline

Returns the floor entity.

Exceptions

CARGoSException if the floor entity has not been added to the arena.

Returns: The floor entity.

Definition at line 239 of file space.h.

◆ GetNumberEntities()

UInt32 argos::CSpace::GetNumberEntities ( ) const

inline

Returns the number of entities contained in the space.

Definition at line 126 of file space.h.

◆ GetRootEntityVector()

CEntity::TVector& argos::CSpace::GetRootEntityVector ( )

inline

Returns a vector of all the root entities in the space.

A root entity is an entity that has no parent. This method differs from GetEntityVector() in that the latter returns all entities including the components of a composable entity, while this method does not return any component, but only the parentless composables.

Returns: a vector of all the root entities in the space.

See also: GetEntityVector()

Definition at line 150 of file space.h.

◆ GetSimulationClock()

UInt32 argos::CSpace::GetSimulationClock ( ) const

inline

Returns the current value of the simulation clock.

The clock is measured in ticks. You can set how much a tick is long in seconds in the XML.

Returns: The current value of the simulation clock.

Definition at line 345 of file space.h.

◆ IncreaseSimulationClock()

void argos::CSpace::IncreaseSimulationClock ( UInt32 un_increase = 1 )

inline

Increases the simulation clock by the wanted value.

The clock is measured in ticks. You can set how much a tick is long in seconds in the XML.

Parameters

un_increase The quantity to add to the current value of the simulation clock.

Definition at line 363 of file space.h.

◆ Init()

void argos::CSpace::Init ( TConfigurationNode & t_tree )

virtual

Initializes the space using the <arena> section of the XML configuration file.

Parameters

t_tree the <arena> section of the XML configuration file.

Implements argos::CBaseConfigurableResource.

Reimplemented in argos::CSpaceMultiThreadBalanceQuantity, and argos::CSpaceMultiThreadBalanceLength.

Definition at line 37 of file space.cpp.

◆ IterateOverControllableEntities()

virtual void argos::CSpace::IterateOverControllableEntities ( const TControllableEntityIterCBType & c_cb )

pure virtual

Given a callback specified in the loop functions, iterate over all controllable entities currently present in the arena (including those that are currently disabled).

Implemented in argos::CSpaceNoThreads, argos::CSpaceMultiThreadBalanceQuantity, and argos::CSpaceMultiThreadBalanceLength.

◆ RemoveControllableEntity()

void argos::CSpace::RemoveControllableEntity ( CControllableEntity & c_entity )

virtual

Reimplemented in argos::CSpaceMultiThreadBalanceQuantity.

Definition at line 174 of file space.cpp.

◆ RemoveEntity()

template<typename ENTITY >

void argos::CSpace::RemoveEntity ( ENTITY & c_entity )

inline

Removes an entity of the given type.

This method is used internally, don't use it in your code. throws CARGoSException if the entity id does not exist in the space indexes.

Definition at line 307 of file space.h.

◆ Reset()

void argos::CSpace::Reset ( )

virtual

Reset the space and all its entities.

Implements argos::CBaseConfigurableResource.

Definition at line 73 of file space.cpp.

◆ SetArenaCenter()

void argos::CSpace::SetArenaCenter ( const CVector3 & c_center )

inline

Sets the arena center.

Returns: the arena center.

Definition at line 397 of file space.h.

◆ SetArenaSize()

void argos::CSpace::SetArenaSize ( const CVector3 & c_size )

inline

Sets the arena size.

Returns: the arena size.

Definition at line 379 of file space.h.

◆ SetFloorEntity()

void argos::CSpace::SetFloorEntity ( CFloorEntity & c_floor_entity )

inline

Sets the floor entity.

Parameters

c_floor_entity The floor entity.

Definition at line 248 of file space.h.

◆ SetSimulationClock()

void argos::CSpace::SetSimulationClock ( UInt32 un_simulation_clock )

inline

Sets a new value for the simulation clock.

The clock is measured in ticks. You can set how much a tick is long in seconds in the XML.

Parameters

un_simulation_clock The new value for the simulation clock.

Definition at line 354 of file space.h.

◆ Update()

void argos::CSpace::Update ( )

virtual

Updates the space.

The operations are performed in the following order:

See also: UpdateControllableEntitiesAct(); UpdatePhysics(); UpdateMedia(); UpdateControllableEntitiesSenseStep()

Reimplemented in argos::CSpaceMultiThreadBalanceLength.

Definition at line 119 of file space.cpp.

◆ UpdateControllableEntitiesAct()

virtual void argos::CSpace::UpdateControllableEntitiesAct ( )

protectedpure virtual

Implemented in argos::CSpaceNoThreads, argos::CSpaceMultiThreadBalanceQuantity, and argos::CSpaceMultiThreadBalanceLength.

◆ UpdateControllableEntitiesSenseStep()

virtual void argos::CSpace::UpdateControllableEntitiesSenseStep ( )

protectedpure virtual

Implemented in argos::CSpaceNoThreads, argos::CSpaceMultiThreadBalanceQuantity, and argos::CSpaceMultiThreadBalanceLength.

◆ UpdateMedia()

virtual void argos::CSpace::UpdateMedia ( )

protectedpure virtual

Implemented in argos::CSpaceNoThreads, argos::CSpaceMultiThreadBalanceQuantity, and argos::CSpaceMultiThreadBalanceLength.

◆ UpdatePhysics()

virtual void argos::CSpace::UpdatePhysics ( )

protectedpure virtual

Implemented in argos::CSpaceNoThreads, argos::CSpaceMultiThreadBalanceQuantity, and argos::CSpaceMultiThreadBalanceLength.

Member Data Documentation

◆ m_cArenaCenter

CVector3 argos::CSpace::m_cArenaCenter

protected

Arena center.

Definition at line 468 of file space.h.

◆ m_cArenaLimits

CRange<CVector3> argos::CSpace::m_cArenaLimits

protected

Arena limits.

Definition at line 474 of file space.h.

◆ m_cArenaSize

CVector3 argos::CSpace::m_cArenaSize

protected

Arena size.

Definition at line 471 of file space.h.

◆ m_cbControllableEntityIter

TControllableEntityIterCBType argos::CSpace::m_cbControllableEntityIter {nullptr}

protected

Callback for iterating over entities from within the loop functions.

Definition at line 503 of file space.h.

◆ m_cSimulator

CSimulator& argos::CSpace::m_cSimulator

protected

Definition at line 462 of file space.h.

◆ m_mapEntitiesPerId

CEntity::TMap argos::CSpace::m_mapEntitiesPerId

protected

A map of entities.

Definition at line 483 of file space.h.

◆ m_mapEntitiesPerTypePerId

TMapPerTypePerId argos::CSpace::m_mapEntitiesPerTypePerId

protected

A map of maps of all the simulated entities.

The top-level map is indexed by type, as returned by CEntity::GetTypeDescription(). The second-level maps are indexed by entity id

Definition at line 488 of file space.h.

◆ m_pcFloorEntity

CFloorEntity* argos::CSpace::m_pcFloorEntity

protected

The floor entity.

Definition at line 494 of file space.h.

◆ m_ptMedia

CMedium::TVector* argos::CSpace::m_ptMedia

protected

A pointer to the list of media.

Definition at line 500 of file space.h.

◆ m_ptPhysicsEngines

CPhysicsEngine::TVector* argos::CSpace::m_ptPhysicsEngines

protected

A pointer to the list of physics engines.

Definition at line 497 of file space.h.

◆ m_unSimulationClock

UInt32 argos::CSpace::m_unSimulationClock

protected

The current simulation clock.

Definition at line 465 of file space.h.

◆ m_vecControllableEntities

CControllableEntity::TVector argos::CSpace::m_vecControllableEntities

protected

A vector of controllable entities.

Definition at line 491 of file space.h.

◆ m_vecEntities

CEntity::TVector argos::CSpace::m_vecEntities

protected

A vector of entities.

Definition at line 477 of file space.h.

◆ m_vecRootEntities

CEntity::TVector argos::CSpace::m_vecRootEntities

protected

A vector of all the entities without a parent.

Definition at line 480 of file space.h.

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ TControllableEntityIterCBType

◆ TMapPerType

◆ TMapPerTypePerId

Constructor & Destructor Documentation

◆ CSpace()

◆ ~CSpace()

Member Function Documentation

◆ AddBoxStrip()

◆ AddControllableEntity()

◆ AddEntity()

◆ AddEntityToPhysicsEngine()

◆ ControllableEntityIterationEnabled()

◆ ControllableEntityIterationWaitAbort()

◆ Destroy()

◆ Distribute()

◆ GetArenaCenter()

◆ GetArenaLimits()

◆ GetArenaSize()

◆ GetEntitiesByType() [1/2]

◆ GetEntitiesByType() [2/2]

◆ GetEntitiesMatching()

◆ GetEntity()

◆ GetEntityMapPerId()

◆ GetEntityMapPerTypePerId()

◆ GetEntityVector()

◆ GetFloorEntity()

◆ GetNumberEntities()

◆ GetRootEntityVector()

◆ GetSimulationClock()

◆ IncreaseSimulationClock()

◆ Init()

◆ IterateOverControllableEntities()

◆ RemoveControllableEntity()

◆ RemoveEntity()

◆ Reset()

◆ SetArenaCenter()

◆ SetArenaSize()

◆ SetFloorEntity()

◆ SetSimulationClock()

◆ Update()

◆ UpdateControllableEntitiesAct()

◆ UpdateControllableEntitiesSenseStep()

◆ UpdateMedia()

◆ UpdatePhysics()

Member Data Documentation

◆ m_cArenaCenter

◆ m_cArenaLimits

◆ m_cArenaSize

◆ m_cbControllableEntityIter

◆ m_cSimulator

◆ m_mapEntitiesPerId

◆ m_mapEntitiesPerTypePerId

◆ m_pcFloorEntity

◆ m_ptMedia

◆ m_ptPhysicsEngines

◆ m_unSimulationClock

◆ m_vecControllableEntities

◆ m_vecEntities

◆ m_vecRootEntities