This entity is a link to a body in the physics engine. More...

#include <embodied_entity.h>

Inheritance diagram for argos::CEmbodiedEntity:

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Collaboration diagram for argos::CEmbodiedEntity:

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Public Member Functions
	ENABLE_VTABLE ()

	CEmbodiedEntity (CComposableEntity *pc_parent)
	Class constructor. More...

	CEmbodiedEntity (CComposableEntity *pc_parent, const std::string &str_id, const CVector3 &c_position=CVector3(), const CQuaternion &c_orientation=CQuaternion(), bool b_movable=true)
	Class constructor. More...

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

virtual void	Init (TConfigurationNode &t_tree)
	Initializes the state of the entity from the XML configuration tree. More...

virtual void	Reset ()
	Resets the state of the entity to whatever it was after Init() or the standalone constructor was called. More...

bool	IsMovable () const
	Returns `true` if the entity is movable. More...

void	SetMovable (bool b_movable)
	Sets whether this entity is movable or not. More...

const SAnchor &	GetOriginAnchor () const
	Returns a const reference to the origin anchor associated to this entity. More...

SAnchor &	GetOriginAnchor ()
	Returns a non-const reference to the origin anchor associated to this entity. More...

SAnchor &	AddAnchor (const std::string &str_id, const CVector3 &c_rel_position=CVector3(), const CQuaternion &c_rel_orientation=CQuaternion())
	Adds an anchor to the embodied entity. More...

void	EnableAnchor (const std::string &str_id)
	Enables an anchor. More...

void	DisableAnchor (const std::string &str_id)
	Disables an anchor. More...

const SAnchor &	GetAnchor (const std::string &str_id) const
	Returns the wanted anchor as a const reference. More...

SAnchor &	GetAnchor (const std::string &str_id)
	Returns the wanted anchor as a non-const reference. More...

std::map< std::string, SAnchor * > &	GetAnchors ()
	Returns a map of anchors associated to this embodied entity. More...

std::vector< SAnchor * > &	GetEnabledAnchors ()
	Returns a vector of enabled anchors for fast looping. More...

bool	IsAnchorEnabled (const std::string &str_id)
	Returns `true` if the given anchor is enabled, `false` otherwise. More...

const SBoundingBox &	GetBoundingBox () const
	Returns the bounding box of this embodied entity. More...

UInt32	GetPhysicsModelsNum () const
	Returns the number of physics models associated to this entity. More...

virtual void	AddPhysicsModel (const std::string &str_engine_id, CPhysicsModel &c_physics_model)
	Adds a new physics model to this embodied entity. More...

void	RemovePhysicsModel (const std::string &str_engine_id)
	Removes a physics model from this embodied entity. More...

const CPhysicsModel &	GetPhysicsModel (size_t un_idx) const
	Returns a physics model associated to this entity. More...

CPhysicsModel &	GetPhysicsModel (size_t un_idx)
	Returns a physics model associated to this entity. More...

const CPhysicsModel &	GetPhysicsModel (const std::string &str_engine_id) const
	Returns a physics model associated to this entity. More...

CPhysicsModel &	GetPhysicsModel (const std::string &str_engine_id)
	Returns a physics model associated to this entity. More...

virtual bool	MoveTo (const CVector3 &c_position, const CQuaternion &c_orientation, bool b_check_only=false, bool b_ignore_collisions=false)
	Moves the entity to the wanted position and orientation. More...

virtual bool	IsCollidingWithSomething () const
	Returns `true` if this entity is colliding with another object. More...

virtual std::string	GetTypeDescription () const
	Returns a string label for this class. More...

void	CalculateBoundingBox ()
	Calculates the bounding box of this entity. More...

Public Member Functions inherited from argos::CEntity
	ENABLE_VTABLE ()

	CEntity (CComposableEntity *pc_parent)
	Class constructor. More...

	CEntity (CComposableEntity *pc_parent, const std::string &str_id)
	Class constructor. More...

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

virtual void	Destroy ()
	Destroys the entity, undoing whatever was done by Init() or by the standalone constructor. More...

const std::string &	GetId () const
	Returns the id of this entity. More...

std::string	GetContext () const
	Returns the context of this entity. More...

bool	HasParent () const
	Returns `true` if this entity has a parent. More...

CEntity &	GetRootEntity ()
	Returns the root entity containing this entity. More...

const CEntity &	GetRootEntity () const
	Returns the root entity containing this entity. More...

CComposableEntity &	GetParent ()
	Returns this entity's parent. More...

const CComposableEntity &	GetParent () const
	Returns this entity's parent. More...

void	SetParent (CComposableEntity &c_parent)
	Sets this entity's parent. More...

virtual void	Update ()
	Updates the state of this entity. More...

ssize_t	GetIndex () const
	Returns the entity index. More...

void	SetIndex (ssize_t n_idx)
	Sets the entity index. More...

bool	IsEnabled () const
	Returns `true` if the entity is enabled. More...

void	Enable ()
	Enables the entity. More...

void	Disable ()
	Disables the entity. More...

virtual void	SetEnabled (bool b_enabled)
	Enables or disables an entity. More...

TConfigurationNode *	GetConfigurationNode ()
	Returns a pointer to the configuration node that was used to create this entity. More...

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

Public Member Functions inherited from argos::EnableVTableFor< CEntity >
size_t	GetTagHelper (const DERIVED *) const

Protected Attributes
bool	m_bMovable

CPhysicsModel::TMap	m_tPhysicsModelMap

CPhysicsModel::TVector	m_tPhysicsModelVector

SBoundingBox *	m_sBoundingBox

SAnchor *	m_psOriginAnchor

std::map< std::string, SAnchor * >	m_mapAnchors

std::vector< SAnchor * >	m_vecEnabledAnchors

CVector3	m_cInitOriginPosition

CQuaternion	m_cInitOriginOrientation

Additional Inherited Members
Public Types inherited from argos::CEntity
typedef std::vector< CEntity * >	TVector
	A vector of entities. More...

typedef unordered_map< std::string, CEntity * >	TMap
	A map of entities. More...

typedef std::multimap< std::string, CEntity * >	TMultiMap
	A multi-map of entities. More...

Detailed Description

This entity is a link to a body in the physics engine.

The embodied entity can either be a root entity (i.e., parentless), or a component.

Its main purpose is to serve as an interface to the actual body in the physics engine. Sensors can use embodied entities to know the position and orientations of the objects in the arena, and can perform ray-cast queries to test for occlusions. In addition, the method MoveTo() allows one to move an entity and/or rotate it.

Embodied entities can be either movable or non-movable. Movable entities are typically self-propelled objects such as mobile robots, or passive objects that can be grasped and moved around. A movable entity can only be associated to a single physics engine per time. Non-movable embodied entities are typically the structural elements of the environments (walls, columns, etc.) and can be associated to multiple physics engines.

See also: CPhysicsEngine; CPhysicsModel

Definition at line 48 of file embodied_entity.h.

Constructor & Destructor Documentation

◆ CEmbodiedEntity() [1/2]

argos::CEmbodiedEntity::CEmbodiedEntity ( CComposableEntity * pc_parent )

Class constructor.

This constructor is meant to be used with the Init() method.

Parameters

pc_parent The parent of this entity.

Definition at line 19 of file embodied_entity.cpp.

◆ CEmbodiedEntity() [2/2]

argos::CEmbodiedEntity::CEmbodiedEntity	(	CComposableEntity *	pc_parent,
		const std::string &	str_id,
		const CVector3 &	c_position = `CVector3()`,
		const CQuaternion &	c_orientation = `CQuaternion()`,
		bool	b_movable = `true`
	)

Class constructor.

This constructor is meant to be standalone. You should not call Init() after using this constructor, or memory leaks are likely to happen.

Parameters

pc_parent	The parent of this entity.
str_id	The id of this entity.
c_position	The initial entity position
c_orientation	The initial entity orientation
b_movable	If set to `true`, this entity is movable.

Definition at line 28 of file embodied_entity.cpp.

◆ ~CEmbodiedEntity()

argos::CEmbodiedEntity::~CEmbodiedEntity ( )

virtual

Class destructor.

Definition at line 53 of file embodied_entity.cpp.

Member Function Documentation

◆ AddAnchor()

SAnchor & argos::CEmbodiedEntity::AddAnchor	(	const std::string &	str_id,
		const CVector3 &	c_rel_position = `CVector3()`,
		const CQuaternion &	c_rel_orientation = `CQuaternion()`
	)

Adds an anchor to the embodied entity.

The anchor is initially disabled. To enable it you must call EnableAnchor().

Parameters

str_id	The id of the anchor.
c_rel_position	The position of the anchor wrt the body coordinate system.
c_rel_orientation	The orientation of the anchor wrt the body coordinate system.

Returns: A reference to the newly created anchor.

Exceptions

CARGoSException if an anchor with the passed id already exists in this embodied entity.

See also: SAnchor; EnableAnchor

Definition at line 121 of file embodied_entity.cpp.

◆ AddPhysicsModel()

void argos::CEmbodiedEntity::AddPhysicsModel	(	const std::string &	str_engine_id,
		CPhysicsModel &	c_physics_model
	)

virtual

Adds a new physics model to this embodied entity.

Internally it calls CalculateBoundingBox().

Parameters

str_engine_id	The id of the engine to which the physics model belongs.
c_physics_model	The physics model to add.

See also: CPhysicsModel

Definition at line 250 of file embodied_entity.cpp.

◆ CalculateBoundingBox()

void argos::CEmbodiedEntity::CalculateBoundingBox ( )

Calculates the bounding box of this entity.

In case of association to multiple models, the resulting bounding box is the largest that contains all the bounding boxes of each model.

See also: CPhysicsModel::CalculateBoundingBox()

Definition at line 381 of file embodied_entity.cpp.

◆ DisableAnchor()

void argos::CEmbodiedEntity::DisableAnchor ( const std::string & str_id )

Disables an anchor.

Parameters

str_id The id of the anchor.

Exceptions

CARGoSException if an enabled anchor with the passed id does not exist in this embodied entity.

See also: SAnchor; DisableAnchor

Definition at line 169 of file embodied_entity.cpp.

◆ ENABLE_VTABLE()

argos::CEmbodiedEntity::ENABLE_VTABLE ( )

◆ EnableAnchor()

void argos::CEmbodiedEntity::EnableAnchor ( const std::string & str_id )

Enables an anchor.

Parameters

str_id The id of the anchor.

Exceptions

CARGoSException if an anchor with the passed id does not exist in this embodied entity.

See also: SAnchor; DisableAnchor

Definition at line 150 of file embodied_entity.cpp.

◆ GetAnchor() [1/2]

SAnchor & argos::CEmbodiedEntity::GetAnchor ( const std::string & str_id )

Returns the wanted anchor as a non-const reference.

Parameters

str_id The id of the anchor.

Returns: The wanted anchor.

Exceptions

CARGoSException if the anchor was not found.

See also: SAnchor; EnableAnchor; DisableAnchor

Definition at line 204 of file embodied_entity.cpp.

◆ GetAnchor() [2/2]

const SAnchor & argos::CEmbodiedEntity::GetAnchor ( const std::string & str_id ) const

Returns the wanted anchor as a const reference.

Parameters

str_id The id of the anchor.

Returns: The wanted anchor.

Exceptions

CARGoSException if the anchor was not found.

See also: SAnchor; EnableAnchor; DisableAnchor

Definition at line 190 of file embodied_entity.cpp.

◆ GetAnchors()

std::map<std::string, SAnchor*>& argos::CEmbodiedEntity::GetAnchors ( )

inline

Returns a map of anchors associated to this embodied entity.

The map has the id as key and a pointer to the anchor as value.

Returns: The map of anchors.

See also: SAnchor; AddAnchor

Definition at line 193 of file embodied_entity.h.

◆ GetBoundingBox()

const SBoundingBox & argos::CEmbodiedEntity::GetBoundingBox ( ) const

Returns the bounding box of this embodied entity.

The bounding box is calculated by the physics engine. In case multiple physics engines are associated to this entity, the resulting bounding box is the largest bounding box that includes all the bounding boxes of each physics engine.

Returns: The bounding box of this embodied entity.

See also: SBoundingBox

Definition at line 232 of file embodied_entity.cpp.

◆ GetEnabledAnchors()

std::vector<SAnchor*>& argos::CEmbodiedEntity::GetEnabledAnchors ( )

inline

Returns a vector of enabled anchors for fast looping.

This method is mainly intended for use in a physics engine when anchors are updated.

Returns: The vector of currently enabled anchors.

See also: EnableAnchor; DisableAnchor

Definition at line 205 of file embodied_entity.h.

◆ GetOriginAnchor() [1/2]

SAnchor& argos::CEmbodiedEntity::GetOriginAnchor ( )

inline

Returns a non-const reference to the origin anchor associated to this entity.

Returns: A non-const reference to the origin anchor associated to this entity.

Definition at line 127 of file embodied_entity.h.

◆ GetOriginAnchor() [2/2]

const SAnchor& argos::CEmbodiedEntity::GetOriginAnchor ( ) const

inline

Returns a const reference to the origin anchor associated to this entity.

Returns: A const reference to the origin anchor associated to this entity.

Definition at line 119 of file embodied_entity.h.

◆ GetPhysicsModel() [1/4]

CPhysicsModel & argos::CEmbodiedEntity::GetPhysicsModel ( const std::string & str_engine_id )

Returns a physics model associated to this entity.

Parameters

str_engine_id The id of the engine to which the physics model belongs.

Returns: a physics model associated to this entity.

Exceptions

CARGoSException if the engine id is not found.

Definition at line 310 of file embodied_entity.cpp.

◆ GetPhysicsModel() [2/4]

const CPhysicsModel & argos::CEmbodiedEntity::GetPhysicsModel ( const std::string & str_engine_id ) const

Returns a physics model associated to this entity.

Parameters

str_engine_id The id of the engine to which the physics model belongs.

Returns: a physics model associated to this entity.

Exceptions

CARGoSException if the engine id is not found.

Definition at line 299 of file embodied_entity.cpp.

◆ GetPhysicsModel() [3/4]

CPhysicsModel & argos::CEmbodiedEntity::GetPhysicsModel ( size_t un_idx )

Returns a physics model associated to this entity.

Parameters

un_idx The index of the wanted physics model.

Returns: a physics model associated to this entity.

Exceptions

CARGoSException if the index is out of bounds.

Definition at line 289 of file embodied_entity.cpp.

◆ GetPhysicsModel() [4/4]

const CPhysicsModel & argos::CEmbodiedEntity::GetPhysicsModel ( size_t un_idx ) const

Returns a physics model associated to this entity.

Parameters

un_idx The index of the wanted physics model.

Returns: a physics model associated to this entity.

Exceptions

CARGoSException if the index is out of bounds.

Definition at line 279 of file embodied_entity.cpp.

◆ GetPhysicsModelsNum()

UInt32 argos::CEmbodiedEntity::GetPhysicsModelsNum ( ) const

Returns the number of physics models associated to this entity.

Returns: The number of physics models associated to this entity.

Definition at line 243 of file embodied_entity.cpp.

◆ GetTypeDescription()

virtual std::string argos::CEmbodiedEntity::GetTypeDescription ( ) const

inlinevirtual

Returns a string label for this class.

Returns: A string label for this class.

Reimplemented from argos::CEntity.

Definition at line 307 of file embodied_entity.h.

◆ Init()

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

virtual

Initializes the state of the entity from the XML configuration tree.

Internally, this entity calls CPositionalEntity::Init() and sets m_bMovable to true.

Exceptions

CARGoSException if a parse error occurred

See also: CPositionalEntity::Init(); m_bMovable

Reimplemented from argos::CEntity.

Definition at line 68 of file embodied_entity.cpp.

◆ IsAnchorEnabled()

bool argos::CEmbodiedEntity::IsAnchorEnabled ( const std::string & str_id )

Returns true if the given anchor is enabled, false otherwise.

Returns: true if the given anchor is enabled, false otherwise.

See also: EnableAnchor; DisableAnchor

Definition at line 218 of file embodied_entity.cpp.

◆ IsCollidingWithSomething()

bool argos::CEmbodiedEntity::IsCollidingWithSomething ( ) const

virtual

Returns true if this entity is colliding with another object.

Returns: true if this entity is colliding with another object.

Definition at line 422 of file embodied_entity.cpp.

◆ IsMovable()

bool argos::CEmbodiedEntity::IsMovable ( ) const

inline

Returns true if the entity is movable.

Returns: true if the entity is movable.

Definition at line 101 of file embodied_entity.h.

◆ MoveTo()

bool argos::CEmbodiedEntity::MoveTo	(	const CVector3 &	c_position,
		const CQuaternion &	c_orientation,
		bool	b_check_only = `false`,
		bool	b_ignore_collisions = `false`
	)

virtual

Moves the entity to the wanted position and orientation.

The movement is allowed only if the object does not collide with anything once in the new position. In case of multiple models associated to this entity, all the engines are checked.

Parameters

c_position	The wanted position.
c_orientation	The wanted orientation.
b_check_only	If `false`, the movement is executed; otherwise, the object is not actually moved.
b_ignore_collisions	If `false`, collisions are considered; if `true`, collisions are ignored

Returns: true if no collisions were detected, false otherwise.

See also: CPhysicsModel::MoveTo()

Definition at line 321 of file embodied_entity.cpp.

◆ RemovePhysicsModel()

void argos::CEmbodiedEntity::RemovePhysicsModel ( const std::string & str_engine_id )

Removes a physics model from this embodied entity.

Internally it calls CalculateBoundingBox().

Parameters

str_engine_id The id of the engine to which the physics model belongs.

Exceptions

CARGoSException if the engine id is not found.

Definition at line 263 of file embodied_entity.cpp.

◆ Reset()

void argos::CEmbodiedEntity::Reset ( )

virtual

Resets the state of the entity to whatever it was after Init() or the standalone constructor was called.

The default implementation of this method does nothing.

Reimplemented from argos::CEntity.

Definition at line 98 of file embodied_entity.cpp.

◆ SetMovable()

void argos::CEmbodiedEntity::SetMovable ( bool b_movable )

inline

Sets whether this entity is movable or not.

This flag cannot be changed during an experiment, because the results are undefined.

Parameters

b_movable true if the entity is movable.

Definition at line 111 of file embodied_entity.h.

Member Data Documentation

◆ m_bMovable

bool argos::CEmbodiedEntity::m_bMovable

protected

Definition at line 321 of file embodied_entity.h.

◆ m_cInitOriginOrientation

CQuaternion argos::CEmbodiedEntity::m_cInitOriginOrientation

protected

Definition at line 329 of file embodied_entity.h.

◆ m_cInitOriginPosition

CVector3 argos::CEmbodiedEntity::m_cInitOriginPosition

protected

Definition at line 328 of file embodied_entity.h.

◆ m_mapAnchors

std::map<std::string, SAnchor*> argos::CEmbodiedEntity::m_mapAnchors

protected

Definition at line 326 of file embodied_entity.h.

◆ m_psOriginAnchor

SAnchor* argos::CEmbodiedEntity::m_psOriginAnchor

protected

Definition at line 325 of file embodied_entity.h.

◆ m_sBoundingBox

SBoundingBox* argos::CEmbodiedEntity::m_sBoundingBox

protected

Definition at line 324 of file embodied_entity.h.

◆ m_tPhysicsModelMap

CPhysicsModel::TMap argos::CEmbodiedEntity::m_tPhysicsModelMap

protected

Definition at line 322 of file embodied_entity.h.

◆ m_tPhysicsModelVector

CPhysicsModel::TVector argos::CEmbodiedEntity::m_tPhysicsModelVector

protected

Definition at line 323 of file embodied_entity.h.

◆ m_vecEnabledAnchors

std::vector<SAnchor*> argos::CEmbodiedEntity::m_vecEnabledAnchors

protected

Definition at line 327 of file embodied_entity.h.

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CEmbodiedEntity() [1/2]

◆ CEmbodiedEntity() [2/2]

◆ ~CEmbodiedEntity()

Member Function Documentation

◆ AddAnchor()

◆ AddPhysicsModel()

◆ CalculateBoundingBox()

◆ DisableAnchor()

◆ ENABLE_VTABLE()

◆ EnableAnchor()

◆ GetAnchor() [1/2]

◆ GetAnchor() [2/2]

◆ GetAnchors()

◆ GetBoundingBox()

◆ GetEnabledAnchors()

◆ GetOriginAnchor() [1/2]

◆ GetOriginAnchor() [2/2]

◆ GetPhysicsModel() [1/4]

◆ GetPhysicsModel() [2/4]

◆ GetPhysicsModel() [3/4]

◆ GetPhysicsModel() [4/4]

◆ GetPhysicsModelsNum()

◆ GetTypeDescription()

◆ Init()

◆ IsAnchorEnabled()

◆ IsCollidingWithSomething()

◆ IsMovable()

◆ MoveTo()

◆ RemovePhysicsModel()

◆ Reset()

◆ SetMovable()

Member Data Documentation

◆ m_bMovable

◆ m_cInitOriginOrientation

◆ m_cInitOriginPosition

◆ m_mapAnchors

◆ m_psOriginAnchor

◆ m_sBoundingBox

◆ m_tPhysicsModelMap

◆ m_tPhysicsModelVector

◆ m_vecEnabledAnchors