rmf_simulation¶

Simulation plugins for use with OpenRMF.

rmf_simulation API¶

Class Hierarchy¶

- Namespace crowd_simulator
  - Class AgentPose3d
  - Class CrowdSimInterface
    - Struct CrowdSimInterface::Object
  - Class MengeHandle
  - Class ModelTypeDatabase
    - Struct ModelTypeDatabase::Record
- Namespace rmf_building_sim_common
  - Struct MotionParams
  - Class DoorCommon
    - Struct DoorCommon::DoorElement
    - Struct DoorCommon::DoorUpdateRequest
    - Struct DoorCommon::DoorUpdateResult
  - Class LiftCommon
    - Struct LiftCommon::LiftUpdateResult
- Namespace rmf_dispenser_common
  - Class TeleportDispenserCommon
- Namespace rmf_ingestor_common
  - Class TeleportIngestorCommon
- Namespace rmf_plugins_utils
  - Struct SimEntity
  - Enum Simulator
  - Struct MotionParams
- Namespace rmf_readonly_common
  - Class ReadonlyCommon
- Namespace rmf_robot_sim_common
  - Enum SteeringType
  - Struct AckermannTrajectory
  - Struct TrajectoryPoint
  - Class SlotcarCommon
    - Struct SlotcarCommon::ChargerWaypoint
    - Struct SlotcarCommon::PowerParams
    - Struct SlotcarCommon::UpdateResult

File Hierarchy¶

- File crowd_simulator_common.hpp
- File dispenser_common.hpp
- File door_common.hpp
- File ingestor_common.hpp
- File lift_common.hpp
- File readonly_common.hpp
- File slotcar_common.hpp
- File utils.hpp
- File utils.hpp

Full API¶

Namespaces¶

Namespace crowd_simulator¶

Contents

Classes
Typedefs

Classes¶

Typedefs¶

Typedef crowd_simulator::AgentPtr

Namespace rmf_building_sim_common¶

Contents

Classes
Functions
Typedefs

Classes¶

Functions¶

Typedefs¶

Namespace rmf_dispenser_common¶

Contents

Classes

Classes¶

Class TeleportDispenserCommon

Namespace rmf_ingestor_common¶

Contents

Classes

Classes¶

Class TeleportIngestorCommon

Namespace rmf_plugins_utils¶

Contents

Classes
Enums
Functions

Classes¶

Enums¶

Enum Simulator

Functions¶

Namespace rmf_readonly_common¶

Contents

Classes

Classes¶

Class ReadonlyCommon

Namespace rmf_robot_sim_common¶

Contents

Classes
Enums
Functions

Classes¶

Enums¶

Enum SteeringType

Functions¶

Template Function rmf_robot_sim_common::get_element_val_if_present

Classes and Structs¶

Struct CrowdSimInterface::Object¶

Defined in File crowd_simulator_common.hpp

Nested Relationships¶

This struct is a nested type of Class CrowdSimInterface.

Struct Documentation¶

struct crowd_simulator::CrowdSimInterface::Object

Public Functions

AnimState get_next_state(bool condition)

Public Members

AgentPtr agent_ptr

std::string model_name

std::string type_name

bool is_external = false

AnimState current_state

Struct ModelTypeDatabase::Record¶

Defined in File crowd_simulator_common.hpp

Nested Relationships¶

This struct is a nested type of Class ModelTypeDatabase.

Struct Documentation¶

struct crowd_simulator::ModelTypeDatabase::Record

Public Members

std::string type_name

std::string file_name

AgentPose3d pose

std::string animation

std::string idle_animation

double animation_speed

Struct DoorCommon::DoorElement¶

Defined in File door_common.hpp

Nested Relationships¶

This struct is a nested type of Class DoorCommon.

Struct Documentation¶

struct rmf_building_sim_common::DoorCommon::DoorElement¶

Public Functions

inline DoorElement()¶

inline DoorElement(const double lower_limit, const double upper_limit, const bool flip_direction = false)¶

Public Members

double closed_position¶

double open_position¶

double current_position¶

double current_velocity¶

Struct DoorCommon::DoorUpdateRequest¶

Defined in File door_common.hpp

Nested Relationships¶

This struct is a nested type of Class DoorCommon.

Struct Documentation¶

struct rmf_building_sim_common::DoorCommon::DoorUpdateRequest

Public Members

std::string joint_name

double position

double velocity

Struct DoorCommon::DoorUpdateResult¶

Defined in File door_common.hpp

Nested Relationships¶

This struct is a nested type of Class DoorCommon.

Struct Documentation¶

struct rmf_building_sim_common::DoorCommon::DoorUpdateResult

Public Members

std::string joint_name

double velocity

double fmax

Struct LiftCommon::LiftUpdateResult¶

Defined in File lift_common.hpp

Nested Relationships¶

This struct is a nested type of Class LiftCommon.

Struct Documentation¶

struct rmf_building_sim_common::LiftCommon::LiftUpdateResult

Public Members

double velocity

double fmax

Struct MotionParams¶

Defined in File utils.hpp

Struct Documentation¶

struct rmf_building_sim_common::MotionParams¶

Public Members

double v_max = 0.2¶

double a_max = 0.1¶

double a_nom = 0.08¶

double dx_min = 0.01¶

double f_max = 10000000.0¶

Struct MotionParams¶

Defined in File utils.hpp

Struct Documentation¶

struct rmf_plugins_utils::MotionParams¶

Public Members

double v_max = 0.2¶

double a_max = 0.1¶

double a_nom = 0.08¶

double dx_min = 0.01¶

double f_max = 10000000.0¶

Struct SimEntity¶

Defined in File utils.hpp

Struct Documentation¶

struct rmf_plugins_utils::SimEntity¶

Public Functions

inline SimEntity(uint64_t en)¶

inline SimEntity(std::string nm)¶

inline const std::string &get_name() const¶

inline uint64_t get_entity() const¶

Public Members

Simulator sim_type¶

uint64_t entity¶

std::string name¶

Struct AckermannTrajectory¶

Defined in File slotcar_common.hpp

Struct Documentation¶

struct rmf_robot_sim_common::AckermannTrajectory¶

Public Functions

inline AckermannTrajectory(const Eigen::Vector2d &_x0, const Eigen::Vector2d &_x1, const Eigen::Vector2d &_v1 = Eigen::Vector2d(0, 0), bool _turning = false)¶

Public Members

Eigen::Vector2d x0¶

Eigen::Vector2d x1¶

Eigen::Vector2d v0¶

Eigen::Vector2d v1¶

bool turning = false¶

Struct SlotcarCommon::ChargerWaypoint¶

Defined in File slotcar_common.hpp

Nested Relationships¶

This struct is a nested type of Class SlotcarCommon.

Struct Documentation¶

struct rmf_robot_sim_common::SlotcarCommon::ChargerWaypoint¶

Public Functions

inline ChargerWaypoint(double x, double y)¶

Public Members

double x¶

double y¶

Struct SlotcarCommon::PowerParams¶

Defined in File slotcar_common.hpp

Nested Relationships¶

This struct is a nested type of Class SlotcarCommon.

Struct Documentation¶

struct rmf_robot_sim_common::SlotcarCommon::PowerParams¶

Public Members

double nominal_voltage = 12¶

double nominal_capacity = 24¶

double charging_current = 2¶

double mass = 20¶

double inertia = 10¶

double friction_coefficient = 0.3¶

double nominal_power = 10¶

Struct SlotcarCommon::UpdateResult¶

Defined in File slotcar_common.hpp

Nested Relationships¶

This struct is a nested type of Class SlotcarCommon.

Struct Documentation¶

struct rmf_robot_sim_common::SlotcarCommon::UpdateResult

Public Members

double v = 0.0

double w = 0.0

double speed = 0.0

Struct TrajectoryPoint¶

Defined in File slotcar_common.hpp

Struct Documentation¶

struct rmf_robot_sim_common::TrajectoryPoint¶

Public Functions

inline TrajectoryPoint(const Eigen::Vector3d &_pos, const Eigen::Quaterniond &_quat)¶

Public Members

Eigen::Vector3d pos¶

Eigen::Quaterniond quat¶

Class AgentPose3d¶

Defined in File crowd_simulator_common.hpp

Class Documentation¶

class crowd_simulator::AgentPose3d¶

Public Functions

inline AgentPose3d()¶

inline AgentPose3d(double x, double y, double z, double roll, double pitch, double yaw)¶

inline double x() const¶

inline double y() const¶

inline double z() const¶

inline double roll() const¶

inline double pitch() const¶

inline double yaw() const¶

inline void x(double x)¶

inline void y(double y)¶

inline void z(double z)¶

inline void roll(double roll)¶

inline void pitch(double pitch)¶

inline void yaw(double yaw)¶

template<typename IgnMathPose3d> inline IgnMathPose3d convert_to_ign_math_pose_3d()¶

Class CrowdSimInterface¶

Defined in File crowd_simulator_common.hpp

Nested Relationships¶

Nested Types¶

Struct CrowdSimInterface::Object

Class Documentation¶

class crowd_simulator::CrowdSimInterface¶

Public Types

enum AnimState¶

Values:

enumerator WALK¶

enumerator IDLE¶

using ObjectPtr = std::shared_ptr<Object>¶

Public Functions

inline CrowdSimInterface()¶

rclcpp::Logger logger() const¶

void init_ros_node(const rclcpp::Node::SharedPtr node)¶

bool init_crowd_sim()¶

double get_sim_time_step() const¶

size_t get_num_objects() const¶

ObjectPtr get_object_by_id(size_t id) const¶

void one_step_sim(double time_step) const¶

double get_switch_anim_distance_th() const¶

std::vector<std::string> get_switch_anim_name() const¶

bool enabled() const¶

template<typename SdfPtrT> bool read_sdf(SdfPtrT &sdf)¶

template<typename IgnMathPose3d> void update_external_agent(size_t id, const IgnMathPose3d &model_pose)¶

template<typename IgnMathPose3d> void update_external_agent(const AgentPtr agent_ptr, const IgnMathPose3d &model_pose)¶

template<typename IgnMathPose3d> IgnMathPose3d get_agent_pose(size_t id, double delta_sim_time)¶

template<typename IgnMathPose3d> IgnMathPose3d get_agent_pose(const AgentPtr agent_ptr, double delta_sim_time)¶

Public Members

std::shared_ptr<ModelTypeDatabase> _model_type_db_ptr¶

struct Object¶

Public Functions

AnimState get_next_state(bool condition)¶

Public Members

AgentPtr agent_ptr¶

std::string model_name¶

std::string type_name¶

bool is_external = false¶

AnimState current_state¶

Class MengeHandle¶

Defined in File crowd_simulator_common.hpp

Inheritance Relationships¶

Base Type¶

public std::enable_shared_from_this< MengeHandle >

Class Documentation¶

class crowd_simulator::MengeHandle : public std::enable_shared_from_this<MengeHandle>¶

Public Functions

inline MengeHandle(const std::string &resource_path, const std::string &behavior_file, const std::string &scene_file, const float sim_time_step = 0.0)¶

void set_sim_time_step(float sim_time_step)¶

float get_sim_time_step() const¶

size_t get_agent_count()¶

void sim_step() const¶

AgentPtr get_agent(size_t id) const¶

Public Static Functions

static std::shared_ptr<MengeHandle> init_and_make(const std::string &resource_path, const std::string &behavior_file, const std::string &scene_file, const float sim_time_step)¶

Class ModelTypeDatabase¶

Defined in File crowd_simulator_common.hpp

Nested Relationships¶

Nested Types¶

Struct ModelTypeDatabase::Record

Class Documentation¶

class crowd_simulator::ModelTypeDatabase¶

Public Types

using RecordPtr = std::shared_ptr<Record>¶

Public Functions

RecordPtr emplace(std::string type_name, RecordPtr record_ptr)¶

size_t size() const¶

RecordPtr get(const std::string &type_name) const¶

struct Record¶

Public Members

std::string type_name¶

std::string file_name¶

AgentPose3d pose¶

std::string animation¶

std::string idle_animation¶

double animation_speed¶

Class DoorCommon¶

Defined in File door_common.hpp

Nested Relationships¶

Nested Types¶

Class Documentation¶

class rmf_building_sim_common::DoorCommon¶

Public Functions

rclcpp::Logger logger() const¶

std::vector<std::string> joint_names() const¶

MotionParams &params()¶

std::vector<DoorUpdateResult> update(const double time, const std::vector<DoorUpdateRequest> &request)¶

Public Static Functions

template<typename SdfPtrT> static std::shared_ptr<DoorCommon> make(const std::string &door_name, rclcpp::Node::SharedPtr node, SdfPtrT &sdf)¶

struct DoorUpdateRequest¶

Public Members

std::string joint_name¶

double position¶

double velocity¶

struct DoorUpdateResult¶

Public Members

std::string joint_name¶

double velocity¶

double fmax¶

Class LiftCommon¶

Defined in File lift_common.hpp

Nested Relationships¶

Nested Types¶

Struct LiftCommon::LiftUpdateResult

Class Documentation¶

class rmf_building_sim_common::LiftCommon¶

Public Functions

rclcpp::Logger logger() const¶

LiftUpdateResult update(const double time, const double position, const double velocity)¶

std::string get_joint_name() const¶

double get_elevation() const¶

bool motion_state_changed()¶

Public Static Functions

template<typename SdfPtrT> static std::unique_ptr<LiftCommon> make(const std::string &lift_name, rclcpp::Node::SharedPtr node, SdfPtrT &sdf)¶

struct LiftUpdateResult¶

Public Members

double velocity¶

double fmax¶

Class TeleportDispenserCommon¶

Defined in File dispenser_common.hpp

Class Documentation¶

class rmf_dispenser_common::TeleportDispenserCommon¶

Public Types

using FleetState = rmf_fleet_msgs::msg::FleetState¶

using FleetStateIt = std::unordered_map<std::string, FleetState::UniquePtr>::iterator¶

using DispenserState = rmf_dispenser_msgs::msg::DispenserState¶

using DispenserRequest = rmf_dispenser_msgs::msg::DispenserRequest¶

using DispenserResult = rmf_dispenser_msgs::msg::DispenserResult¶

Public Functions

void send_dispenser_response(uint8_t status) const¶

void fleet_state_cb(FleetState::UniquePtr msg)¶

void dispenser_request_cb(DispenserRequest::UniquePtr msg)¶

void on_update(std::function<void(FleetStateIt, std::vector<rmf_plugins_utils::SimEntity>&)> fill_robot_list_cb, std::function<rmf_plugins_utils::SimEntity(const std::vector<rmf_plugins_utils::SimEntity>&, bool&)> find_nearest_model_cb, std::function<void(const rmf_plugins_utils::SimEntity&)> place_on_entity_cb, std::function<bool(void)> check_filled_cb)¶

void init_ros_node(const rclcpp::Node::SharedPtr node)¶

Public Members

bool dispense = false¶

DispenserRequest latest¶

std::string guid¶

double last_pub_time = 0.0¶

double sim_time = 0.0¶

bool item_en_found = false¶

bool dispenser_filled = false¶

rclcpp::Node::SharedPtr ros_node¶

std::unordered_map<std::string, FleetState::UniquePtr> fleet_states¶

DispenserState current_state¶

Class TeleportIngestorCommon¶

Defined in File ingestor_common.hpp

Class Documentation¶

class rmf_ingestor_common::TeleportIngestorCommon¶

Public Types

using FleetState = rmf_fleet_msgs::msg::FleetState¶

using FleetStateIt = std::unordered_map<std::string, FleetState::UniquePtr>::iterator¶

using IngestorState = rmf_ingestor_msgs::msg::IngestorState¶

using IngestorRequest = rmf_ingestor_msgs::msg::IngestorRequest¶

using IngestorResult = rmf_ingestor_msgs::msg::IngestorResult¶

Public Functions

void send_ingestor_response(uint8_t status) const¶

void fleet_state_cb(FleetState::UniquePtr msg)¶

void ingestor_request_cb(IngestorRequest::UniquePtr msg)¶

void on_update(std::function<void(FleetStateIt, std::vector<rmf_plugins_utils::SimEntity>&)> fill_robot_list_cb, std::function<rmf_plugins_utils::SimEntity(const std::vector<rmf_plugins_utils::SimEntity>&, bool&)> find_nearest_model_cb, std::function<bool(const SimEntity&)> get_payload_model_cb, std::function<void()> transport_model_cbstd::function<void(void)> send_ingested_item_home_cb)¶

void init_ros_node(const rclcpp::Node::SharedPtr node)¶

Public Members

bool ingest = false¶

IngestorRequest latest¶

std::string _guid¶

bool ingestor_filled = false¶

double last_pub_time = 0.0¶

double last_ingested_time = 0.0¶

double sim_time = 0.0¶

rclcpp::Node::SharedPtr ros_node¶

std::unordered_map<std::string, Eigen::Isometry3d> non_static_models_init_poses¶

std::unordered_map<std::string, FleetState::UniquePtr> fleet_states¶

IngestorState current_state¶

Class ReadonlyCommon¶

Defined in File readonly_common.hpp

Class Documentation¶

class rmf_readonly_common::ReadonlyCommon¶

Public Types

using BuildingMap = rmf_building_map_msgs::msg::BuildingMap¶

using Level = rmf_building_map_msgs::msg::Level¶

using Graph = rmf_building_map_msgs::msg::Graph¶

using Location = rmf_fleet_msgs::msg::Location¶

using Path = std::vector<Location>¶

Public Functions

void set_name(const std::string &name)¶

std::string get_name() const¶

rclcpp::Logger logger()¶

template<typename SdfPtrT> void read_sdf(SdfPtrT &sdf)¶

void init(rclcpp::Node::SharedPtr node)¶

void on_update(Eigen::Isometry3d &pose, double sim_time)¶

Public Members

rclcpp::Node::SharedPtr ros_node¶

Class SlotcarCommon¶

Defined in File slotcar_common.hpp

Nested Relationships¶

Nested Types¶

Class Documentation¶

class rmf_robot_sim_common::SlotcarCommon¶

Public Functions

SlotcarCommon()¶

rclcpp::Logger logger() const¶

template<typename SdfPtrT> void read_sdf(SdfPtrT &sdf)¶

void set_model_name(const std::string &model_name)¶

std::string model_name() const¶

void init_ros_node(const rclcpp::Node::SharedPtr node)¶

UpdateResult update(const Eigen::Isometry3d &pose, const std::vector<Eigen::Vector3d> &obstacle_positions, const double time)¶

bool emergency_stop(const std::vector<Eigen::Vector3d> &obstacle_positions, const Eigen::Vector3d &current_heading)¶

std::array<double, 2> calculate_control_signals(const std::array<double, 2> &curr_velocities, const std::pair<double, double> &displacements, const double dt, const double target_linear_velocity = 0.0) const¶

std::array<double, 2> calculate_joint_control_signals(const std::array<double, 2> &w_tire, const std::pair<double, double> &displacements, const double dt) const¶

void charge_state_cb(const std::string &name, bool selected)¶

void publish_robot_state(const double time)¶

struct UpdateResult¶

Public Members

double v = 0.0¶

double w = 0.0¶

double speed = 0.0¶

Enums¶

Enum Simulator¶

Defined in File utils.hpp

Enum Documentation¶

enum rmf_plugins_utils::Simulator¶

Values:

enumerator Ignition¶

enumerator Gazebo¶

Enum SteeringType¶

Defined in File slotcar_common.hpp

Enum Documentation¶

enum rmf_robot_sim_common::SteeringType¶

Values:

enumerator DIFF_DRIVE¶

enumerator ACKERMANN¶

Functions¶

Function rmf_building_sim_common::compute_desired_rate_of_change¶

Defined in File utils.hpp

Function Documentation¶

double rmf_building_sim_common::compute_desired_rate_of_change(double _s_target, double _v_actual, const MotionParams &_motion_params, const double _dt)¶

Function rmf_building_sim_common::compute_ds¶

Defined in File utils.hpp

Function Documentation¶

double rmf_building_sim_common::compute_ds(double s_target, double v_actual, const double v_max, const double accel_nom, const double accel_max, const double dt)¶

Template Function rmf_building_sim_common::get_element_required¶

Defined in File utils.hpp

Function Documentation¶

template<typename SdfPtrT, typename SdfElementPtrT> bool rmf_building_sim_common::get_element_required(SdfPtrT &_sdf, const std::string &_element_name, SdfElementPtrT &_element)¶

Template Function rmf_building_sim_common::get_sdf_attribute_required¶

Defined in File utils.hpp

Function Documentation¶

template<typename T, typename SdfPtrT> bool rmf_building_sim_common::get_sdf_attribute_required(SdfPtrT &sdf, const std::string &attribute_name, T &value)¶

Template Function rmf_building_sim_common::get_sdf_param_if_available¶

Defined in File utils.hpp

Function Documentation¶

template<typename T, typename SdfPtrT> void rmf_building_sim_common::get_sdf_param_if_available(SdfPtrT &sdf, const std::string &parameter_name, T &value)¶

Template Function rmf_building_sim_common::get_sdf_param_required¶

Defined in File utils.hpp

Function Documentation¶

template<typename T, typename SdfPtrT> bool rmf_building_sim_common::get_sdf_param_required(SdfPtrT &sdf, const std::string &parameter_name, T &value)¶

Function rmf_plugins_utils::compute_desired_rate_of_change¶

Defined in File utils.hpp

Function Documentation¶

double rmf_plugins_utils::compute_desired_rate_of_change(double _s_target, double _v_actual, const MotionParams &_motion_params, const double _dt)¶

Function rmf_plugins_utils::compute_ds¶

Defined in File utils.hpp

Function Documentation¶

double rmf_plugins_utils::compute_ds(double s_target, double v_actual, const double v_max, const double accel_nom, const double accel_max, const double dt, const double v_target = 0.0)¶

Template Function rmf_plugins_utils::convert(const Eigen::Quaterniond&, IgnQuatT&)¶

Defined in File utils.hpp

Function Documentation¶

template<typename IgnQuatT> inline void rmf_plugins_utils::convert(const Eigen::Quaterniond &_q, IgnQuatT &quat)¶

Template Function rmf_plugins_utils::convert(const Eigen::Vector3d&, IgnVec3T&)¶

Defined in File utils.hpp

Function Documentation¶

template<typename IgnVec3T> inline void rmf_plugins_utils::convert(const Eigen::Vector3d &_v, IgnVec3T &vec)¶

Template Function rmf_plugins_utils::convert_pose¶

Defined in File utils.hpp

Function Documentation¶

template<typename IgnPoseT> inline Eigen::Isometry3d rmf_plugins_utils::convert_pose(const IgnPoseT &_pose)¶

Template Function rmf_plugins_utils::convert_quat¶

Defined in File utils.hpp

Function Documentation¶

template<typename IgnQuatT> inline Eigen::Quaterniond rmf_plugins_utils::convert_quat(const IgnQuatT &_q)¶

Template Function rmf_plugins_utils::convert_to_pose¶

Defined in File utils.hpp

Function Documentation¶

template<typename IgnPoseT> inline auto rmf_plugins_utils::convert_to_pose(const Eigen::Isometry3d &_tf)¶

Template Function rmf_plugins_utils::convert_vec¶

Defined in File utils.hpp

Function Documentation¶

template<typename IgnVec3T> inline Eigen::Vector3d rmf_plugins_utils::convert_vec(const IgnVec3T &_v)¶

Template Function rmf_plugins_utils::get_element_required¶

Defined in File utils.hpp

Function Documentation¶

template<typename SdfPtrT, typename SdfElementPtrT> bool rmf_plugins_utils::get_element_required(SdfPtrT &_sdf, const std::string &_element_name, SdfElementPtrT &_element)¶

Template Function rmf_plugins_utils::get_sdf_attribute_required¶

Defined in File utils.hpp

Function Documentation¶

template<typename T, typename SdfPtrT> bool rmf_plugins_utils::get_sdf_attribute_required(SdfPtrT &sdf, const std::string &attribute_name, T &value)¶

Template Function rmf_plugins_utils::get_sdf_param_if_available¶

Defined in File utils.hpp

Function Documentation¶

template<typename T, typename SdfPtrT> void rmf_plugins_utils::get_sdf_param_if_available(SdfPtrT &sdf, const std::string &parameter_name, T &value)¶

Template Function rmf_plugins_utils::get_sdf_param_required¶

Defined in File utils.hpp

Function Documentation¶

template<typename T, typename SdfPtrT> bool rmf_plugins_utils::get_sdf_param_required(SdfPtrT &sdf, const std::string &parameter_name, T &value)¶

Template Function rmf_plugins_utils::make_response¶

Defined in File utils.hpp

Function Documentation¶

template<typename ResultMsgT> std::shared_ptr<ResultMsgT> rmf_plugins_utils::make_response(uint8_t status, const double sim_time, const std::string &request_guid, const std::string &guid)¶

Function rmf_plugins_utils::simulation_now¶

Defined in File utils.hpp

Function Documentation¶

rclcpp::Time rmf_plugins_utils::simulation_now(double t)¶

Template Function rmf_robot_sim_common::get_element_val_if_present¶

Defined in File slotcar_common.hpp

Function Documentation¶

template<typename SdfPtrT, typename valueT> bool rmf_robot_sim_common::get_element_val_if_present(SdfPtrT &_sdf, const std::string &_element_name, valueT &_val)¶

Typedefs¶

Typedef crowd_simulator::AgentPtr¶

Defined in File crowd_simulator_common.hpp

Typedef Documentation¶

using crowd_simulator::AgentPtr = std::shared_ptr<Menge::Agents::BaseAgent>¶

Typedef rmf_building_sim_common::DoorMode¶

Defined in File door_common.hpp

Typedef Documentation¶

typedef rmf_door_msgs::msg::DoorMode rmf_building_sim_common::DoorMode¶

Typedef rmf_building_sim_common::DoorRequest¶

Defined in File door_common.hpp

Typedef Documentation¶

typedef rmf_door_msgs::msg::DoorRequest rmf_building_sim_common::DoorRequest¶

Typedef rmf_building_sim_common::DoorState¶

Defined in File door_common.hpp

Typedef Documentation¶

typedef rmf_door_msgs::msg::DoorState rmf_building_sim_common::DoorState¶

Typedef rmf_building_sim_common::LiftRequest¶

Defined in File lift_common.hpp

Typedef Documentation¶

using rmf_building_sim_common::LiftRequest = rmf_lift_msgs::msg::LiftRequest¶

Typedef rmf_building_sim_common::LiftState¶

Defined in File lift_common.hpp

Typedef Documentation¶

using rmf_building_sim_common::LiftState = rmf_lift_msgs::msg::LiftState¶