#include <psi_cylinder_world.h>

Public Member Functions
	Simple_simulator ()

bool	simulate (const std::vector< std::vector< Start_state > > &start_state, const std::vector< std::vector< std::vector< Action > > > &actions)

const std::vector< std::vector < std::vector< Entity_state > > > &	get_entity_states () const
	returns 2d array or entity states, indexed by states[actor][frame] More...

void	set_sampling_rate (double r)

Protected Member Functions
double	get_actions_length (const std::vector< Action > &actions)
	return the length of simulation, as defined by a sequence of extended actions More...

std::vector< size_t >	quantize_action_durations (const std::vector< Action > &actions)

std::vector< double >	quantize_walk_through_points_action (const std::vector< double > &parameters)

void	execute_action (size_t time, Action_context &context)

void	execute_null_action (size_t time, Action_context &context)

void	execute_walk_action (size_t time, Action_context &context)

void	execute_walk_in_arc_action (size_t time, Action_context &context)

void	execute_walk_through_points_action (size_t time, Action_context &context)

void	execute_follow_action (size_t time, Action_context &context)

Constructor & Destructor Documentation

kjb::psi::Simple_simulator::Simple_simulator ( )

inline

Member Function Documentation

void kjb::psi::Simple_simulator::execute_action	(	size_t	time,
		Action_context &	context
	)

inlineprotected

Run an action for N time-steps. Saves the state at every time-step in the state log, and updates the time counter.

Parameters

time	The time index to start running the action. After returning, time will be updated to be the time index for the next action to start running.

Precondition: All states for entity at previous times have already been computed.

void kjb::psi::Simple_simulator::execute_follow_action	(	size_t	time,
		Action_context &	context
	)

protected

Handler for "follow" action.

Parameters

time	The time index to start running the action. After returning, time will be updated to be the time index for the next action to start running. Must be > 0.
entity_1	the actor that is being followed
entity_2	the actor is following entity_1

Returns: Amount to add to next action's duration, to account for time discretization over/underrun error.

Precondition: All states for entity at previous times have already been computed.

See Also: execute_action

void kjb::psi::Simple_simulator::execute_null_action	(	size_t	time,
		Action_context &	context
	)

protected

Handler for "null" activity.

See Also: execute_action

void kjb::psi::Simple_simulator::execute_walk_action	(	size_t	time,
		Action_context &	context
	)

protected

Handler for "walk" action.

Precondition: All previous states for all entities have been computed.; Current states for all dependency entities have been computed.

See Also: execute_action

void kjb::psi::Simple_simulator::execute_walk_in_arc_action	(	size_t	time,
		Action_context &	context
	)

protected

Handler for "walk-and-turn" action

Parameters

time	The time index to start running the action. After returning, time will be updated to be the time index for the next action to start running. Must be > 0.

void kjb::psi::Simple_simulator::execute_walk_through_points_action	(	size_t	time,
		Action_context &	context
	)

protected

Handler for "walk_though_points" action.

Parameters

time	The time index to start running the action. After returning, time will be updated to be the time index for the next action to start running. Must be > 0.

Returns: Amount to add to next action's duration, to account for time discretization over/underrun error.

Precondition: All states for entity at previous times have already been computed.

See Also: execute_action

double kjb::psi::Simple_simulator::get_actions_length ( const std::vector< Action > & actions )

protected

return the length of simulation, as defined by a sequence of extended actions

If multiple cylinders, and one's actions take longer than another's, this adds a null action to the shorter one so they're all the same length.

Precondition: total duration of all actions is <= duration

const std::vector<std::vector<std::vector<Entity_state> > >& kjb::psi::Simple_simulator::get_entity_states ( ) const

inline

returns 2d array or entity states, indexed by states[actor][frame]

std::vector< size_t > kjb::psi::Simple_simulator::quantize_action_durations ( const std::vector< Action > & actions )

protected

Convert action durations from seconds (float point) to sample counts (integers). Takes care to not accumulate drift over long trajectories.

std::vector<double> kjb::psi::Simple_simulator::quantize_walk_through_points_action ( const std::vector< double > & parameters )

protected

Document soon... Quantize the WALK_THROUGH_POINTS_ACTION into

void kjb::psi::Simple_simulator::set_sampling_rate ( double r )

inline

bool kjb::psi::Simple_simulator::simulate	(	const std::vector< std::vector< Start_state > > &	start_state,
		const std::vector< std::vector< std::vector< Action > > > &	actions
	)

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

/work/kobus/src/lib/psi_cpp/psi_cylinder_world.h
/work/kobus/src/lib/psi_cpp/psi_cylinder_world.cpp

Public Member Functions

Protected Member Functions

Constructor & Destructor Documentation

Member Function Documentation