expose timeout in pybullet/shared memory API
add RobotSimulator, a C++ API similar to pybullet. (work-in-progress, only part of API implemeted)
This commit is contained in:
Erwin Coumans
191
examples/RobotSimulator/b3RobotSimulatorClientAPI.h
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191
examples/RobotSimulator/b3RobotSimulatorClientAPI.h
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#ifndef B3_ROBOT_SIMULATOR_CLIENT_API_H
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#define B3_ROBOT_SIMULATOR_CLIENT_API_H
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#include "../SharedMemory/SharedMemoryPublic.h"
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#include "Bullet3Common/b3Vector3.h"
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#include "Bullet3Common/b3Quaternion.h"
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#include "Bullet3Common/b3Transform.h"
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#include "Bullet3Common/b3AlignedObjectArray.h"
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#include <string>
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struct b3RobotSimulatorLoadUrdfFileArgs
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{
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b3Vector3 m_startPosition;
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b3Quaternion m_startOrientation;
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bool m_forceOverrideFixedBase;
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bool m_useMultiBody;
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b3RobotSimulatorLoadUrdfFileArgs()
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:
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m_startPosition(b3MakeVector3(0,0,0)),
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m_startOrientation(b3Quaternion(0,0,0,1)),
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m_forceOverrideFixedBase(false),
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m_useMultiBody(true)
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{
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}
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};
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struct b3RobotSimulatorLoadSdfFileArgs
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{
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bool m_forceOverrideFixedBase;
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bool m_useMultiBody;
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b3RobotSimulatorLoadSdfFileArgs()
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:
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m_forceOverrideFixedBase(false),
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m_useMultiBody(true)
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{
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}
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};
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struct b3RobotSimulatorLoadFileResults
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{
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b3AlignedObjectArray<int> m_uniqueObjectIds;
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b3RobotSimulatorLoadFileResults()
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{
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}
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};
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struct b3RobotSimulatorJointMotorArgs
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{
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int m_controlMode;
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double m_targetPosition;
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double m_kp;
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double m_targetVelocity;
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double m_kd;
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double m_maxTorqueValue;
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b3RobotSimulatorJointMotorArgs(int controlMode)
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:m_controlMode(controlMode),
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m_targetPosition(0),
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m_kp(0.1),
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m_targetVelocity(0),
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m_kd(0.9),
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m_maxTorqueValue(1000)
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{
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}
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};
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enum b3RobotSimulatorInverseKinematicsFlags
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{
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B3_HAS_IK_TARGET_ORIENTATION=1,
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B3_HAS_NULL_SPACE_VELOCITY=2,
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B3_HAS_JOINT_DAMPING=4,
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};
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struct b3RobotSimulatorInverseKinematicArgs
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{
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int m_bodyUniqueId;
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// double* m_currentJointPositions;
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// int m_numPositions;
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double m_endEffectorTargetPosition[3];
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double m_endEffectorTargetOrientation[4];
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int m_endEffectorLinkIndex;
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int m_flags;
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int m_numDegreeOfFreedom;
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b3AlignedObjectArray<double> m_lowerLimits;
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b3AlignedObjectArray<double> m_upperLimits;
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b3AlignedObjectArray<double> m_jointRanges;
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b3AlignedObjectArray<double> m_restPoses;
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b3AlignedObjectArray<double> m_jointDamping;
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b3RobotSimulatorInverseKinematicArgs()
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:m_bodyUniqueId(-1),
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m_endEffectorLinkIndex(-1),
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m_flags(0)
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{
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m_endEffectorTargetPosition[0]=0;
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m_endEffectorTargetPosition[1]=0;
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m_endEffectorTargetPosition[2]=0;
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m_endEffectorTargetOrientation[0]=0;
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m_endEffectorTargetOrientation[1]=0;
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m_endEffectorTargetOrientation[2]=0;
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m_endEffectorTargetOrientation[3]=1;
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}
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};
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struct b3RobotSimulatorInverseKinematicsResults
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{
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int m_bodyUniqueId;
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b3AlignedObjectArray<double> m_calculatedJointPositions;
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};
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///The b3RobotSimulatorClientAPI is pretty much the C++ version of pybullet
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///as documented in the pybullet Quickstart Guide
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///https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA
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class b3RobotSimulatorClientAPI
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{
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struct b3RobotSimulatorClientAPI_InternalData* m_data;
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public:
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b3RobotSimulatorClientAPI();
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virtual ~b3RobotSimulatorClientAPI();
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bool connect(int mode, const std::string& hostName="localhost", int portOrKey=-1);
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void disconnect();
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bool isConnected() const;
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void syncBodies();
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void resetSimulation();
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b3Quaternion getQuaternionFromEuler(const b3Vector3& rollPitchYaw);
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b3Vector3 getEulerFromQuaternion(const b3Quaternion& quat);
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int loadURDF(const std::string& fileName, const struct b3RobotSimulatorLoadUrdfFileArgs& args=b3RobotSimulatorLoadUrdfFileArgs());
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bool loadSDF(const std::string& fileName, b3RobotSimulatorLoadFileResults& results, const struct b3RobotSimulatorLoadSdfFileArgs& args=b3RobotSimulatorLoadSdfFileArgs());
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bool loadMJCF(const std::string& fileName, b3RobotSimulatorLoadFileResults& results);
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bool loadBullet(const std::string& fileName, b3RobotSimulatorLoadFileResults& results);
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bool getBasePositionAndOrientation(int bodyUniqueId, b3Vector3& basePosition, b3Quaternion& baseOrientation) const;
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bool resetBasePositionAndOrientation(int bodyUniqueId, b3Vector3& basePosition, b3Quaternion& baseOrientation);
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int getNumJoints(int bodyUniqueId) const;
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bool getJointInfo(int bodyUniqueId, int jointIndex, b3JointInfo* jointInfo);
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void createConstraint(int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, b3JointInfo* jointInfo);
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bool getJointState(int bodyUniqueId, int jointIndex, struct b3JointSensorState *state);
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bool resetJointState(int bodyUniqueId, int jointIndex, int targetValue);
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void setJointMotorControl(int bodyUniqueId, int jointIndex, const struct b3RobotSimulatorJointMotorArgs& args);
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void stepSimulation();
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void setRealTimeSimulation(bool enableRealTimeSimulation);
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void setGravity(const b3Vector3& gravityAcceleration);
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void setTimeStep(double timeStepInSeconds);
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void setNumSimulationSubSteps(int numSubSteps);
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void setNumSolverIterations(int numIterations);
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bool calculateInverseKinematics(const struct b3RobotSimulatorInverseKinematicArgs& args, struct b3RobotSimulatorInverseKinematicsResults& results);
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bool getBodyJacobian(int bodyUniqueId, int linkIndex, const double* localPosition, const double* jointPositions, const double* jointVelocities, const double* jointAccelerations, double* linearJacobian, double* angularJacobian);
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bool getLinkState(int bodyUniqueId, int linkIndex, b3LinkState* linkState);
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void configureDebugVisualizer(enum b3ConfigureDebugVisualizerEnum flag, int enable);
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int startStateLogging(b3StateLoggingType loggingType, const std::string& fileName, const b3AlignedObjectArray<int>& objectUniqueIds);
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void stopStateLogging(int stateLoggerUniqueId);
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};
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#endif //B3_ROBOT_SIMULATOR_CLIENT_API_H
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