iCub_Sim.cpp File Reference

#include "iCub_Sim.h"
#include "OdeInit.h"
#include <yarp/os/LogStream.h>
#include <mutex>
#include <cstdlib>
#include <csignal>
#include <set>

Include dependency graph for iCub_Sim.cpp:

Go to the source code of this file.

Classes
struct	contactICubSkinEmul_t

Macros
#define	MAX_DJOINT_FEEDBACKSTRUCTS   500

Variables
static long	gl_frame_length = 1000/30
static long	ode_step_length = 10
static double	dstep = 10.0/1000.0
static bool	glrun
static bool	simrun
static int	stop = 0
static int	v = 0
static float	xyz [3]
static float	hpr [8]
static float	rez [3]
static int	contactPoint
static int	mouseDiffx
static int	mouseDiffy
static bool	picking = false
static float	cam_rx = 0.0
static float	cam_ry = 0.0
static int	width = 640
static int	height = 480
static int	mouse0_down_x
static int	mouse1_down_x
static int	mouse0_down_y
static int	mouse1_down_y
static int	mouse_ray_x
static int	mouse_ray_y
static float *	VAD
static float *	VAD2
const dReal *	pos
static float	angle_xref = 0.0f
static float	angle_yref = 25.0f
static float	ydistance = 10.0f
static float	xdistance = 0.0f
static float	view_xyz [3]
static float	view_hpr [3]
static float	view2_xyz [3]
static float	view2_hpr [3]
static float	zoom = 0
static float	xpos = 0
static float	ypos = 0
static float	zpos = 0
static float	xrot = 0
static float	yrot = 0
static float	zrot = 0
static float	angle =0.0
static float	lastx
static float	lasty
static float	xrotrad = 0
static float	yrotrad = 0
static long	startTime
static long	finishTime
static double	duration
static double	frames
static double	FPS
static double	seconds
static double	TimestepManager
static float	test [3]
static Uint32	colorkey
static SDL_Surface *	image
static bool	extractImages = false
static VideoTexture *	video = NULL
static RobotStreamer *	robot_streamer = NULL
static RobotConfig *	robot_config = NULL
static bool	eyeCams
static const GLfloat	light_position [] = { 0.0f, 5.0f, 5.0f, 0.0f }
static int	width_left
static int	width_right
static int	height_left
static int	height_right
static double	fov_left
static double	fov_right
static int	cameraSizeWidth
static int	cameraSizeHeight
static std::map< SkinPart, contactICubSkinEmul_t >	contactICubSkinEmulMap
static dJointFeedback	touchSensorFeedbacks [MAX_DJOINT_FEEDBACKSTRUCTS]
static int	nFeedbackStructs =0
static bool	START_SELF_COLLISION_DETECTION = false
static const double	EXTRA_MARGIN_FOR_TAXEL_POSITION_M = 0.03
static const double	MORE_EXTRA_MARGIN_FOR_TAXEL_POSITION_M = 0.01

Macro Definition Documentation

MAX_DJOINT_FEEDBACKSTRUCTS

#define MAX_DJOINT_FEEDBACKSTRUCTS   500

Definition at line 113 of file iCub_Sim.cpp.

Variable Documentation

angle

float angle =0.0

static

Definition at line 72 of file iCub_Sim.cpp.

angle_xref

float angle_xref = 0.0f

static

Definition at line 63 of file iCub_Sim.cpp.

angle_yref

float angle_yref = 25.0f

static

Definition at line 64 of file iCub_Sim.cpp.

cam_rx

float cam_rx = 0.0

static

Definition at line 51 of file iCub_Sim.cpp.

cam_ry

float cam_ry = 0.0

static

Definition at line 51 of file iCub_Sim.cpp.

cameraSizeHeight

int cameraSizeHeight

static

Definition at line 97 of file iCub_Sim.cpp.

cameraSizeWidth

int cameraSizeWidth

static

Definition at line 96 of file iCub_Sim.cpp.

colorkey

Uint32 colorkey

static

Definition at line 79 of file iCub_Sim.cpp.

contactICubSkinEmulMap

std::map<SkinPart,contactICubSkinEmul_t> contactICubSkinEmulMap

static

Definition at line 105 of file iCub_Sim.cpp.

contactPoint

int contactPoint

static

Definition at line 48 of file iCub_Sim.cpp.

dstep

double dstep = 10.0/1000.0

static

Definition at line 36 of file iCub_Sim.cpp.

duration

double duration

static

Definition at line 76 of file iCub_Sim.cpp.

EXTRA_MARGIN_FOR_TAXEL_POSITION_M

const double EXTRA_MARGIN_FOR_TAXEL_POSITION_M = 0.03

static

Definition at line 120 of file iCub_Sim.cpp.

extractImages

bool extractImages = false

static

Definition at line 81 of file iCub_Sim.cpp.

eyeCams

bool eyeCams

static

Definition at line 85 of file iCub_Sim.cpp.

finishTime

long finishTime

static

Definition at line 75 of file iCub_Sim.cpp.

fov_left

double fov_left

static

Definition at line 93 of file iCub_Sim.cpp.

fov_right

double fov_right

static

Definition at line 94 of file iCub_Sim.cpp.

FPS

double FPS

static

Definition at line 76 of file iCub_Sim.cpp.

frames

double frames

static

Definition at line 76 of file iCub_Sim.cpp.

gl_frame_length

long gl_frame_length = 1000/30

static

Definition at line 34 of file iCub_Sim.cpp.

glrun

bool glrun

static

Definition at line 38 of file iCub_Sim.cpp.

height

int height = 480

static

Definition at line 54 of file iCub_Sim.cpp.

height_left

int height_left

static

Definition at line 91 of file iCub_Sim.cpp.

height_right

int height_right

static

Definition at line 92 of file iCub_Sim.cpp.

hpr

float hpr[8]

static

Definition at line 45 of file iCub_Sim.cpp.

image

SDL_Surface* image

static

Definition at line 80 of file iCub_Sim.cpp.

lastx

float lastx

static

Definition at line 73 of file iCub_Sim.cpp.

lasty

float lasty

static

Definition at line 73 of file iCub_Sim.cpp.

light_position

const GLfloat light_position[] = { 0.0f, 5.0f, 5.0f, 0.0f }

static

Definition at line 86 of file iCub_Sim.cpp.

MORE_EXTRA_MARGIN_FOR_TAXEL_POSITION_M

const double MORE_EXTRA_MARGIN_FOR_TAXEL_POSITION_M = 0.01

static

Definition at line 123 of file iCub_Sim.cpp.

mouse0_down_x

int mouse0_down_x

static

Definition at line 56 of file iCub_Sim.cpp.

mouse0_down_y

int mouse0_down_y

static

Definition at line 57 of file iCub_Sim.cpp.

mouse1_down_x

int mouse1_down_x

static

Definition at line 56 of file iCub_Sim.cpp.

mouse1_down_y

int mouse1_down_y

static

Definition at line 57 of file iCub_Sim.cpp.

mouse_ray_x

int mouse_ray_x

static

Definition at line 58 of file iCub_Sim.cpp.

mouse_ray_y

int mouse_ray_y

static

Definition at line 59 of file iCub_Sim.cpp.

mouseDiffx

int mouseDiffx

static

Definition at line 49 of file iCub_Sim.cpp.

mouseDiffy

int mouseDiffy

static

Definition at line 49 of file iCub_Sim.cpp.

nFeedbackStructs

int nFeedbackStructs =0

static

Definition at line 116 of file iCub_Sim.cpp.

ode_step_length

long ode_step_length = 10

static

Definition at line 35 of file iCub_Sim.cpp.

picking

bool picking = false

static

Definition at line 50 of file iCub_Sim.cpp.

pos

const dReal* pos

Definition at line 62 of file iCub_Sim.cpp.

rez

float rez[3]

static

Definition at line 46 of file iCub_Sim.cpp.

robot_config

RobotConfig* robot_config = NULL

static

Definition at line 84 of file iCub_Sim.cpp.

robot_streamer

RobotStreamer* robot_streamer = NULL

static

Definition at line 83 of file iCub_Sim.cpp.

seconds

double seconds

static

Definition at line 76 of file iCub_Sim.cpp.

simrun

bool simrun

static

Definition at line 39 of file iCub_Sim.cpp.

START_SELF_COLLISION_DETECTION

bool START_SELF_COLLISION_DETECTION = false

static

Definition at line 118 of file iCub_Sim.cpp.

startTime

long startTime

static

Definition at line 75 of file iCub_Sim.cpp.

stop

int stop = 0

static

Definition at line 41 of file iCub_Sim.cpp.

test

float test[3]

static

Definition at line 77 of file iCub_Sim.cpp.

TimestepManager

double TimestepManager

static

Definition at line 76 of file iCub_Sim.cpp.

touchSensorFeedbacks

dJointFeedback touchSensorFeedbacks[MAX_DJOINT_FEEDBACKSTRUCTS]

static

Definition at line 115 of file iCub_Sim.cpp.

v

int v = 0

static

Definition at line 42 of file iCub_Sim.cpp.

VAD

float* VAD

static

Definition at line 60 of file iCub_Sim.cpp.

VAD2

float* VAD2

static

Definition at line 61 of file iCub_Sim.cpp.

video

VideoTexture* video = NULL

static

Definition at line 82 of file iCub_Sim.cpp.

view2_hpr

float view2_hpr[3]

static

Definition at line 70 of file iCub_Sim.cpp.

view2_xyz

float view2_xyz[3]

static

Definition at line 69 of file iCub_Sim.cpp.

view_hpr

float view_hpr[3]

static

Definition at line 68 of file iCub_Sim.cpp.

view_xyz

float view_xyz[3]

static

Definition at line 67 of file iCub_Sim.cpp.

width

int width = 640

static

Definition at line 53 of file iCub_Sim.cpp.

width_left

int width_left

static

Definition at line 89 of file iCub_Sim.cpp.

width_right

int width_right

static

Definition at line 90 of file iCub_Sim.cpp.

xdistance

float xdistance = 0.0f

static

Definition at line 66 of file iCub_Sim.cpp.

xpos

float xpos = 0

static

Definition at line 72 of file iCub_Sim.cpp.

xrot

float xrot = 0

static

Definition at line 72 of file iCub_Sim.cpp.

xrotrad

float xrotrad = 0

static

Definition at line 74 of file iCub_Sim.cpp.

xyz

float xyz[3]

static

Definition at line 44 of file iCub_Sim.cpp.

ydistance

float ydistance = 10.0f

static

Definition at line 65 of file iCub_Sim.cpp.

ypos

float ypos = 0

static

Definition at line 72 of file iCub_Sim.cpp.

yrot

float yrot = 0

static

Definition at line 72 of file iCub_Sim.cpp.

yrotrad

float yrotrad = 0

static

Definition at line 74 of file iCub_Sim.cpp.

zoom

float zoom = 0

static

Definition at line 71 of file iCub_Sim.cpp.

zpos

float zpos = 0

static

Definition at line 72 of file iCub_Sim.cpp.

zrot

float zrot = 0

static

Definition at line 72 of file iCub_Sim.cpp.