This file defines data structures and API functions available only in simulation. More...

#include "haptix.h"

Include dependency graph for haptix_sim.h:

Data Structures
struct	hxsColor
	A 4-tuple representing a color in RGBA space. More...

struct	hxsContactPoint
	Information about a contact point. More...

struct	hxsContactPoints
	Information about contacts. More...

struct	hxsJoint
	Information about a joint. A joint is a component of a model. More...

struct	hxsLink
	Information about a link. A link is a component of a model. More...

struct	hxsModel
	Information about a model. More...

struct	hxsQuaternion
	A quaternion. More...

struct	hxsSimInfo
	Simulation information. More...

struct	hxsTransform
	A translation and orientation constructed of a hxVector3 and hxQuaternion. More...

struct	hxsVector3
	A three-tuple vector. More...

struct	hxsWrench

Macros
#define	hxsMAXCONTACT 200
	Maximum number of contacts. More...

#define	hxsMAXJOINTS 50
	Maximum number of joints per model. More...

#define	hxsMAXLINKS 100
	Maximum number of links per model. More...

#define	hxsMAXMODELS 50
	Maximum number of models per simulation. More...

#define	hxsMAXNAMESIZE 100
	Maximum number of characters allowed per name. More...

Enumerations
enum	hxsCollideMode { hxsNOCOLLIDE, hxsDETECTIONONLY, hxsCOLLIDE }

Functions
hxResult	hxs_add_constraint (const char _sdf, const char _model)
	Dynamically add constraint between two links during runtime. More...

hxResult	hxs_add_model (const char _sdf, const char _name, float _x, float _y, float _z, float _roll, float _pitch, float _yaw, int _gravity_mode, hxsModel *_model)
	Add model during runtime. More...

hxResult	hxs_angular_velocity (const char _name, hxsVector3 _ang_vel)
	Get the angular velocity of a model. More...

hxResult	hxs_apply_force (const char _modelName, const char _linkName, const hxsVector3 *_force, const float _duration)
	Apply force to a link. More...

hxResult	hxs_apply_torque (const char _modelName, const char _linkName, const hxsVector3 *_torque, const float _duration)
	Apply torque to a link. More...

hxResult	hxs_apply_wrench (const char _modelName, const char _linkName, const hxsWrench *_wrench, const float _duration)
	Apply a wrench to a link. More...

hxResult	hxs_camera_transform (hxsTransform *_transform)
	Get information about the simulation camera. More...

hxResult	hxs_contacts (const char _model, hxsContactPoints _contact)
	Get information about active contacts for a model. More...

hxResult	hxs_is_logging (int *_result)
	Determine if logging is running. More...

hxResult	hxs_linear_velocity (const char _name, hxsVector3 _velocity)
	Get the linear velocity of a model. More...

hxResult	hxs_model_collide_mode (const char _model, hxsCollideMode _collide_mode)
	Get the collide mode of the object. More...

hxResult	hxs_model_color (const char _model, hxsColor _color)
	Get the color of the model. More...

hxResult	hxs_model_gravity_mode (const char _name, int _gravity_mode)
	Get whether or not this model is affected by gravity. More...

hxResult	hxs_model_joint_state (const char _model, hxsModel _state)
	Get simulation state (position and velocity) of joint named "_joint" in model "_model". More...

hxResult	hxs_model_transform (const char _name, hxsTransform _transform)
	Get model transform (position and orientation in the global coordinate frame). More...

hxResult	hxs_remove_constraint (const char _name, const char _model)
	Remove constraint. More...

hxResult	hxs_remove_model (const char *_name)
	Remove model. More...

hxResult	hxs_reset (int _resetLimbPose)
	Send world reset command/Carry over limb pose between world reset. More...

hxResult	hxs_set_angular_velocity (const char _name, const hxsVector3 _ang_vel)
	Set the angular velocity of a model. More...

hxResult	hxs_set_camera_transform (const hxsTransform *_transform)
	Set camera transform. More...

hxResult	hxs_set_linear_velocity (const char _name, const hxsVector3 _velocity)
	Set the linear velocity of a model. More...

hxResult	hxs_set_model_collide_mode (const char _model, const hxsCollideMode _collide_mode)
	Set the collide mode of the object. More...

hxResult	hxs_set_model_color (const char _model, const hxsColor _color)
	Set the color of the model. More...

hxResult	hxs_set_model_gravity_mode (const char *_name, const int _gravity_mode)
	Set whether or not this model is affected by gravity. More...

hxResult	hxs_set_model_joint_state (const char _model, const char _joint, float _pos, float _vel)
	Set simulation state (position and velocity) of joint named "_joint" in model "_model" to the desired position and velocity. More...

hxResult	hxs_set_model_transform (const char _name, const hxsTransform _transform)
	Set model transform (position and orientation in the global coordinate frame). More...

hxResult	hxs_sim_info (hxsSimInfo *_siminfo)
	Get simulation information. More...

hxResult	hxs_start_logging (const char *_dirname)
	Start recording log file. More...

hxResult	hxs_stop_logging ()
	Stop recording log file. More...

Detailed Description

This file defines data structures and API functions available only in simulation.

Macro Definition Documentation

#define hxsMAXCONTACT 200

Maximum number of contacts.

#define hxsMAXJOINTS 50

Maximum number of joints per model.

#define hxsMAXLINKS 100

Maximum number of links per model.

#define hxsMAXMODELS 50

Maximum number of models per simulation.

#define hxsMAXNAMESIZE 100

Maximum number of characters allowed per name.

Function Documentation

hxResult hxs_add_constraint	(	const char *	_sdf,
		const char *	_model
	)

Dynamically add constraint between two links during runtime.

Parameters

[in]	_sdf	SDF of the joint to be created.
[in]	_model	Name of parent model of the joint constraint.

Returns: 'hxOK' if the function succeed or an error code otherwise.

hxResult hxs_add_model	(	const char *	_sdf,
		const char *	_name,
		float	_x,
		float	_y,
		float	_z,
		float	_roll,
		float	_pitch,
		float	_yaw,
		int	_gravity_mode,
		hxsModel *	_model
	)

Add model during runtime.

Parameters

[in]	_sdf	SDF xml description of the model.
[in]	_name	Model name.
[in]	_x	X position in global frame (m).
[in]	_y	Y position in global frame (m).
[in]	_z	Z position in global frame (m).
[in]	_roll	Roll in global frame (radians).
[in]	_pitch	Pitch in global frame (radians).
[in]	_yaw	Yaw in global frame (radians).
[in]	_gravity_mode	1 if the model is affected by gravity, 0 otherwise.
[out]	_model	Pointer to the new model.

Returns: 'hxOK' if the function succeed or an error code otherwise.

hxResult hxs_angular_velocity	(	const char *	_name,
		hxsVector3 *	_ang_vel
	)

Get the angular velocity of a model.

In the case of a model with multiple links, one of the link is designated as the canonical link of the model. We are returning the angular velocity of the canonical link's center of mass in the world frame.

Parameters

[in]	_name	Name of the model.
[out]	_ang_vel	Velocity (rad/s).

Returns: 'hxOK' if the function succeed or an error code otherwise.

hxResult hxs_apply_force	(	const char *	_modelName,
		const char *	_linkName,
		const hxsVector3 *	_force,
		const float	_duration
	)

Apply force to a link.

Parameters

[in]	_modelName	Name of the model containing the link.
[in]	_linkName	Name of the link.
[in]	_force	Force (N).
[in]	_duration	Duration of the force application in seconds. Set to 0 for persistent duration.

Returns: 'hxOK' if the function succeed or an error code otherwise.

hxResult hxs_apply_torque	(	const char *	_modelName,
		const char *	_linkName,
		const hxsVector3 *	_torque,
		const float	_duration
	)

Apply torque to a link.

Parameters

[in]	_modelName	Name of the model containing the link.
[in]	_linkName	Name of the link.
[in]	_torque	Torque (N-m).
[in]	_duration	Duration of the torque application in seconds. Set to 0 for persistent duration.

Returns: 'hxOK' if the function succeed or an error code otherwise.

hxResult hxs_apply_wrench	(	const char *	_modelName,
		const char *	_linkName,
		const hxsWrench *	_wrench,
		const float	_duration
	)

Apply a wrench to a link.

Parameters

[in]	_modelName	Name of the model containing the link.
[in]	_linkName	Name of the link.
[in]	_wrench	Wrench to apply.
[in]	_duration	Duration of the torque application in seconds. Set to 0 for persistent duration.

Returns: 'hxOK' if the function succeed or an error code otherwise.

hxResult hxs_camera_transform ( hxsTransform * _transform )

Get information about the simulation camera.

Parameters

[out] _camera Information about the simulation camera.

Returns: 'hxOK' if the function succeed or an error code otherwise.

hxResult hxs_contacts	(	const char *	_model,
		hxsContactPoints *	_contact
	)

Get information about active contacts for a model.

Parameters

[in]	_model	The name of the model to query.
[out]	_contact	The latest contact information.

Returns: 'hxOK' if the function succeed or an error code otherwise.

hxResult hxs_is_logging ( int * _result )

Determine if logging is running.

Parameters

[out] _result 1 if logging is running.

Returns: 'hxOK' if the function succeed or an error code otherwise.

hxResult hxs_linear_velocity	(	const char *	_name,
		hxsVector3 *	_velocity
	)

Get the linear velocity of a model.

In the case of a model with multiple links, one of the link is designated as the canonical link of the model. We are returning the linear velocity of the canonical link's center of mass in the world frame.

Parameters

[in]	_name	Name of the model.
[out]	_velocity	Velocity (m/s).

Returns: 'hxOK' if the function succeed or an error code otherwise.

hxResult hxs_model_collide_mode	(	const char *	_model,
		hxsCollideMode *	_collide_mode
	)

Get the collide mode of the object.

Parameters

[in]	_model	Name of the model.
[out]	_collide_mode	The collide mode of the object.

See also: hxsCollideMode

Returns: 'hxOK' if the function succeed or an error code otherwise.

hxResult hxs_model_color	(	const char *	_model,
		hxsColor *	_color
	)

Get the color of the model.

Parameters

[in]	_model	Name of the model.
[out]	_color	The color of the model.

See also: hxColor

Returns: 'hxOK' if the function succeed or an error code otherwise.

hxResult hxs_model_gravity_mode	(	const char *	_name,
		int *	_gravity_mode
	)

Get whether or not this model is affected by gravity.

Parameters

[in]	_name	Name of the model.
[in]	_gravity	If 1, the model is affected by gravity. If 0, the model is free-floating.

hxResult hxs_model_joint_state	(	const char *	_model,
		hxsModel *	_state
	)

Get simulation state (position and velocity) of joint named "_joint" in model "_model".

Where state is defined by position and velocity.

Parameters

[in]	_model	Name of the model to set.
[out]	_state	a hxsModel data structure containing joints states.

Returns: 'hxOK' if the function succeed or an error code otherwise.

hxResult hxs_model_transform	(	const char *	_name,
		hxsTransform *	_transform
	)

Get model transform (position and orientation in the global coordinate frame).

Parameters

[in]	_name	Name of the model.
[out]	_transform	Current model transform.

Returns: 'hxOK' if the function succeed or an error code otherwise.

hxResult hxs_remove_constraint	(	const char *	_name,
		const char *	_model
	)

Remove constraint.

Parameters

[in]	_name	Name of the joint/constraint to be removed.
[in]	_model	Name of parent model of the joint constraint.

Returns: 'hxOK' if the function succeed or an error code otherwise.

hxResult hxs_remove_model ( const char * _name )

Remove model.

Parameters

[in] _name Name of the model.

Returns: 'hxOK' if the function succeed or an error code otherwise.

hxResult hxs_reset ( int _resetLimbPose )

Send world reset command/Carry over limb pose between world reset.

Parameters

[in] _resetLimbPose Non-zero to reset the pose of the limb.

Returns: 'hxOK' if the function succeed or an error code otherwise.

hxResult hxs_set_angular_velocity	(	const char *	_name,
		const hxsVector3 *	_ang_vel
	)

Set the angular velocity of a model.

This function does not support models with multiple links, unexpected behavior will result from using this function with a multi-link model. For a model with single link, this function call sets the angular velocity of the link at its center of mass in the world frame.

Parameters

[in]	_name	Name of the model.
[in]	_ang_vel	Velocity (rad/s).

Returns: 'hxOK' if the function succeed or an error code otherwise.

hxResult hxs_set_camera_transform ( const hxsTransform * _transform )

Set camera transform.

Parameters

[in] _transform New camera transform.

Returns: 'hxOK' if the function succeed or an error code otherwise.

hxResult hxs_set_linear_velocity	(	const char *	_name,
		const hxsVector3 *	_velocity
	)

Set the linear velocity of a model.

In the case of a model with multiple links, we are setting the linear velocity of all links center of mass in the world frame.

Parameters

[in]	_name	Name of the model.
[in]	_velocity	Velocity (m/s).

Returns: 'hxOK' if the function succeed or an error code otherwise.

hxResult hxs_set_model_collide_mode	(	const char *	_model,
		const hxsCollideMode *	_collide_mode
	)

Set the collide mode of the object.

Parameters

[in]	_model	Name of the model.
[in]	_collide_mode	The collide mode of the object.

See also: hxCollideMode

Returns: 'hxOK' if the function succeed or an error code otherwise.

hxResult hxs_set_model_color	(	const char *	_model,
		const hxsColor *	_color
	)

Set the color of the model.

Parameters

[in]	_model	Name of the model.
[in]	_color	The color to set.

See also: hxsColor

Returns: 'hxOK' if the function succeed or an error code otherwise.

hxResult hxs_set_model_gravity_mode	(	const char *	_name,
		const int	_gravity_mode
	)

Set whether or not this model is affected by gravity.

Parameters

[in]	_name	Name of the model.
[in]	_gravity	If 1, the model is affected by gravity. If 0, the model is free-floating.

hxResult hxs_set_model_joint_state	(	const char *	_model,
		const char *	_joint,
		float	_pos,
		float	_vel
	)

Set simulation state (position and velocity) of joint named "_joint" in model "_model" to the desired position and velocity.

The acceleration, torque, and reaction wrench of the joint may change based on the constraints of model's dynamic system.

Parameters

[in]	_model	Name of the model to set.
[in]	_joint	Name of the joint to set.
[in]	_pos	Desired position of the joint.
[in]	_vel	Desired velocity of the joint.

Returns: 'hxOK' if the function succeed or an error code otherwise.

hxResult hxs_set_model_transform	(	const char *	_name,
		const hxsTransform *	_transform
	)

Set model transform (position and orientation in the global coordinate frame).

Parameters

[in]	_name	Name of the model.
[in]	_transform	New model transform.

Returns: 'hxOK' if the function succeed or an error code otherwise.

hxResult hxs_sim_info ( hxsSimInfo * _siminfo )

Get simulation information.

Parameters

[out] _siminfo Simulation information requested.

See also: _hxsSimInfo

Returns: 'hxOK' if the function succeed or an error code otherwise.

hxResult hxs_start_logging ( const char * _dirname )

Start recording log file.

Only one log file may be recorded at a time.

Parameters

[in] _dirname Path to the directory where the log file is created.

Returns: 'hxOK' if the function succeed or an error code otherwise.

hxResult hxs_stop_logging ( )

Stop recording log file.

Returns: 'hxOK' if the function succeed or an error code otherwise.

HAPTIX API

Data Structures

Macros

Enumerations

Functions

Detailed Description

Macro Definition Documentation

Function Documentation