cens Namespace Reference

Computational Embodied Neuroscience Simulator library. More...

Classes
class	CENSEngine
	Initializing and manipulating physics objects. More...
class	CENSGraphics
	A C++ wrapper for OpenGL. More...
class	CENSGraphicsShape
	Graphic processing of an object. More...
class	CENSHashMap
class	CENSHingeConstraint
	A custom HingeConstraint Class. More...
struct	CENSHingeData
class	CENSImporter
class	CENSPhysics
	An interface to the bullet physics library. More...
class	CENSPixelMap
	Use a byte vector as a matrix. More...
class	CENSSerializedEngine
struct	CENSSerializedRobot
class	CENSSliderConstraint
	A custom SliderConstraint Class. More...
struct	CENSTouchSensor

Typedefs
typedef std::map < btCollisionObject *, CENSGraphicsShape * >	CENSShapes
typedef std::pair < btCollisionObject *, btCollisionObject * >	CENSNCPair
typedef std::map< CENSNCPair, bool >	CENSNonCollidingTable
typedef std::map< std::string, btRigidBody * >	Bodies
typedef std::map< std::string, btTypedConstraint * >	Constraints
typedef std::map< const std::string, CENSSerializedRobot * >	Robots
typedef std::map< const std::string, CENSTouchSensor * >	Sensors
typedef std::map< const std::string, int >	Cameras
typedef std::vector< Vector3f >	Vertices
typedef std::vector< Vector2f >	TexCoords
typedef std::vector< std::string >	strings
typedef std::vector< int >	Integers
typedef std::vector< float >	Floats

Enumerations
enum	CENSConstraint { CENS_FIXED_CONSTRAINT, CENS_HINGE_CONSTRAINT, CENS_CONETWIST_CONSTRAINT, CENS_SLIDER_CONSTRAINT }
enum	GS_TYPE {   GS_NULL = 1, GS_PLANE, GS_BOX, GS_SPHERE,   GS_CONVEX, GS_SOFT }

Functions
Eigen::Vector3f	btVec2eigen (const btVector3 &v)
btVector3	eigen2btVec (const Eigen::Vector3f &v)
btMatrix3x3	eigen2btMat (const Eigen::Matrix3f &v)
Eigen::Matrix3f	btMat2eigen (const btMatrix3x3 &v)
void	glutKeyboardCallback (unsigned char key, int x, int y)
void	glutDisplayCallback (void)
void	glutTimerCallback (int value)
void	collisionFilteringCallback (btBroadphasePair &collisionPair, btCollisionDispatcher &dispatcher, const btDispatcherInfo &dispatchInfo)
void	internalTickCallback (btDynamicsWorld *world, btScalar timestep)
float	scalarFromString (std::string str)
std::string	str_replace (std::string str, const std::string &searchString, const std::string &replaceString)
std::vector< std::string >	str_split (std::string str, const std::string &sep)
bool	str_match (const std::string &str, const std::string &comp)
float	rad2degree (float grad)
float	degree2rad (float degree)

Variables
CENSGraphics *	cens_graphics = 0
Vector3f	GS_NULL_COLOR = Vector3f(-1,-1,-1)
Vector3f	CENS_NULL_COLOR = Vector3f(-1,-1,-1)
Vertices	CENS_NULL_VERTICES = Vertices()
TexCoords	CENS_NULL_TEXCOORDS = TexCoords()
CENSPixelMap	CENS_NULL_PIXMAP = CENSPixelMap()
strings	CENS_NULL_STRINGS = strings()
const std::string	CENS_DEFAULT_CONTROL = "CENS_DEFAULT_CONTROL"
const std::string	CENS_PD_CONTROL = "CENS_PD_CONTROL"
const int	GS_SPHERE_LATS = 20
const int	GS_SPHERE_LONGS = 20

Detailed Description

Computational Embodied Neuroscience Simulator library.

Typedef Documentation

typedef std::map<std::string, btRigidBody *> cens::Bodies

maps of groups of bodies

Definition at line 256 of file cens_serialized_engine.h.

typedef std::map<const std::string, int > cens::Cameras

maps of cameras

Definition at line 264 of file cens_serialized_engine.h.

typedef std::pair<btCollisionObject *, btCollisionObject * > cens::CENSNCPair

Pairs of collision objects

Definition at line 72 of file cens_physics.h.

typedef std::map< CENSNCPair , bool > cens::CENSNonCollidingTable

Maps of pairs of collision objects to bool. For each pair in a map true if it collides, false otherwise

Definition at line 77 of file cens_physics.h.

typedef std::map< btCollisionObject *, CENSGraphicsShape * > cens::CENSShapes

maps of graphics shapes to bodies

Definition at line 59 of file cens_engine.h.

typedef std::map<std::string, btTypedConstraint *> cens::Constraints

maps of groups of bodies

Definition at line 258 of file cens_serialized_engine.h.

typedef std::vector<float> cens::Floats

Definition at line 47 of file cens_types.h.

typedef std::vector<int> cens::Integers

Definition at line 46 of file cens_types.h.

typedef std::map<const std::string, CENSSerializedRobot *> cens::Robots

maps of groups of hinges

Definition at line 260 of file cens_serialized_engine.h.

typedef std::map<const std::string, CENSTouchSensor *> cens::Sensors

maps of groups of sensors

Definition at line 262 of file cens_serialized_engine.h.

typedef std::vector< std::string > cens::strings

Definition at line 45 of file cens_types.h.

typedef std::vector<Vector2f> cens::TexCoords

Definition at line 44 of file cens_types.h.

typedef std::vector<Vector3f> cens::Vertices

Definition at line 43 of file cens_types.h.

Enumeration Type Documentation

enum cens::CENSConstraint

Enumerator
CENS_FIXED_CONSTRAINT
CENS_HINGE_CONSTRAINT
CENS_CONETWIST_CONSTRAINT
CENS_SLIDER_CONSTRAINT

Definition at line 55 of file cens_types.h.

enum cens::GS_TYPE

Enumerator
GS_NULL
GS_PLANE
GS_BOX
GS_SPHERE
GS_CONVEX
GS_SOFT

Definition at line 65 of file cens_types.h.

Function Documentation

Eigen::Matrix3f cens::btMat2eigen

(

const btMatrix3x3 &

v

)

Get an eigen Matrix3f from a bullet btMatrix3x3

Definition at line 679 of file cens_engine.cpp.

Referenced by cens::CENSEngine::display().

Eigen::Vector3f cens::btVec2eigen

(

const btVector3 &

v

)

Get an eigen Vector3f from a bullet btVector3

Definition at line 660 of file cens_engine.cpp.

Referenced by cens::CENSEngine::display(), cens::CENSEngine::localCreateRigidBody(), cens::CENSEngine::localCreateSoftBody(), cens::CENSEngine::localImportRigidBody(), cens::CENSEngine::localLinkSoftBody(), and cens::CENSEngine::syncAttachedCamera().

void cens::collisionFilteringCallback	(	btBroadphasePair &	collisionPair,
		btCollisionDispatcher &	dispatcher,
		const btDispatcherInfo &	dispatchInfo
	)

Decides if collisions are dispatched based on CENSPhysycs::m_phNonCollidingTable

Definition at line 293 of file cens_physics.cpp.

References cens::CENSPhysics::m_phNonCollidingTable.

float cens::degree2rad ( float  degree )

inline

Definition at line 45 of file cens_utils.h.

btMatrix3x3 cens::eigen2btMat

(

const Eigen::Matrix3f &

v

)

Get a bullet btMatrix3x3 from an eigen Matrix3f

Definition at line 670 of file cens_engine.cpp.

btVector3 cens::eigen2btVec

(

const Eigen::Vector3f &

v

)

Get a bullet btVector3 from an eigen Vector3f

Definition at line 665 of file cens_engine.cpp.

Referenced by cens::CENSSerializedRobot::enableBodies().

void cens::glutDisplayCallback

(

void

)

Definition at line 42 of file cens_graphics.cpp.

References cens_graphics, and cens::CENSGraphics::display().

Referenced by cens::CENSGraphics::initCamera().

void cens::glutKeyboardCallback	(	unsigned char	key,
		int	x,
		int	y
	)

Definition at line 35 of file cens_graphics.cpp.

References cens_graphics, and cens::CENSGraphics::keyboard().

Referenced by cens::CENSGraphics::initCENSGraphics().

void cens::glutTimerCallback

(

int

value

)

Definition at line 49 of file cens_graphics.cpp.

References cens_graphics, and cens::CENSGraphics::step().

Referenced by cens::CENSGraphics::initCENSGraphics().

void cens::internalTickCallback	(	btDynamicsWorld *	world,
		btScalar	timestep
	)

To be called on every substep for collision manifold reading

Definition at line 326 of file cens_physics.cpp.

float cens::rad2degree ( float  grad )

inline

Definition at line 41 of file cens_utils.h.

float cens::scalarFromString

(

std::string

str

)

Definition at line 31 of file cens_utils.cpp.

bool cens::str_match	(	const std::string &	str,
		const std::string &	comp
	)

Definition at line 77 of file cens_utils.cpp.

std::string cens::str_replace	(	std::string	str,
		const std::string &	searchString,
		const std::string &	replaceString
	)

Definition at line 36 of file cens_utils.cpp.

Referenced by str_split().

std::vector< std::string > cens::str_split	(	std::string	str,
		const std::string &	sep
	)

Definition at line 55 of file cens_utils.cpp.

References str_replace().

Variable Documentation

const std::string cens::CENS_DEFAULT_CONTROL = "CENS_DEFAULT_CONTROL"

Definition at line 32 of file cens_types.cpp.

Referenced by cens::CENSSerializedRobot::move(), and cens::CENSSerializedRobot::update().

CENSGraphics * cens::cens_graphics = 0

static CENSGraphics pointer.

Definition at line 61 of file cens_graphics.cpp.

Referenced by cens::CENSEngine::CENSEngine(), glutDisplayCallback(), glutKeyboardCallback(), and glutTimerCallback().

Vector3f cens::CENS_NULL_COLOR = Vector3f(-1,-1,-1)

Definition at line 26 of file cens_types.cpp.

Referenced by cens::CENSEngine::localCreateRigidBody(), cens::CENSEngine::localCreateSoftBody(), cens::CENSEngine::localImportRigidBody(), and cens::CENSEngine::localLinkSoftBody().

CENSPixelMap cens::CENS_NULL_PIXMAP = CENSPixelMap()

Definition at line 29 of file cens_types.cpp.

Referenced by cens::CENSEngine::localCreateRigidBody(), cens::CENSEngine::localCreateSoftBody(), cens::CENSEngine::localImportRigidBody(), and cens::CENSEngine::localLinkSoftBody().

strings cens::CENS_NULL_STRINGS = strings()

Definition at line 30 of file cens_types.cpp.

TexCoords cens::CENS_NULL_TEXCOORDS = TexCoords()

Definition at line 28 of file cens_types.cpp.

Vertices cens::CENS_NULL_VERTICES = Vertices()

Definition at line 27 of file cens_types.cpp.

const std::string cens::CENS_PD_CONTROL = "CENS_PD_CONTROL"

Definition at line 33 of file cens_types.cpp.

Referenced by cens::CENSSerializedRobot::move(), and cens::CENSSerializedRobot::update().

Vector3f cens::GS_NULL_COLOR = Vector3f(-1,-1,-1)

Definition at line 28 of file cens_graphics_shape.cpp.

const int cens::GS_SPHERE_LATS = 20

Definition at line 35 of file cens_types.cpp.

Referenced by cens::CENSGraphicsShape::buildAsSphere(), and cens::CENSGraphicsShape::draw().

const int cens::GS_SPHERE_LONGS = 20

Definition at line 36 of file cens_types.cpp.

Referenced by cens::CENSGraphicsShape::buildAsSphere(), and cens::CENSGraphicsShape::draw().