com.yobotics.simulationconstructionset
Class Simulation

java.lang.Object
  com.yobotics.simulationconstructionset.Simulation

All Implemented Interfaces:

YoVariableHolder, java.io.Serializable

public class Simulation
extends java.lang.Object
implements YoVariableHolder, java.io.Serializable

See Also:

Serialized Form

Constructor Summary

Simulation(Robot[] robots, int dataBufferSize)

Simulation(Robot robot, int dataBufferSize)

Method Summary

void	addScript(Script script)
void	addSimulateDoneListener(SimulateDoneListener listener)
void	addStaticBranchGroup(javax.media.j3d.BranchGroup staticBranchGroup)
void	addVarList(VarList newVarList)
boolean	checkSimulateDoneCriterion()
java.util.ArrayList<YoVariable>	getAllVariables() Returns all the YoVariables in this YoVariableHolder
YoVariable[]	getAllVariablesArray() Returns all the YoVariables in this YoVariableHolder
VarList	getCombinedVarList()
DataBuffer	getDataBuffer()
double	getDT()
long	getRecordFreq()
Robot[]	getRobots()
StandardSimulationGraphics	getSimulationGraphics()
YoVariable	getVariable(java.lang.String varname) Gets a YoVariable with the given name if it is in this YoVariableHolder, otherwise returns null.
YoVariable	getVariable(java.lang.String nameSpace, java.lang.String varname) Gets a YoVariable with the given nameSpace and name if it is in this YoVariableHolder, otherwise returns null.
java.util.ArrayList<YoVariable>	getVariables(NameSpace nameSpace) Returns all the YoVariables with the given nameSpace that are in this YoVariableHolder, empty if there are none.
java.util.ArrayList<YoVariable>	getVariables(java.lang.String varname) Returns all the YoVariables with the given name that are in this YoVariableHolder, empty if there are none.
java.util.ArrayList<YoVariable>	getVariables(java.lang.String nameSpace, java.lang.String varname) Returns all the YoVariables with the given nameSpace and name that are in this YoVariableHolder, empty if there are none.
java.util.ArrayList<YoVariable>	getVariablesThatContain(java.lang.String searchString, boolean caseSensitive)
java.util.ArrayList<YoVariable>	getVariablesThatStartWith(java.lang.String searchString)
java.util.ArrayList	getVars(java.lang.String[] varNames, java.lang.String[] regularExpressions)
boolean	hasUniqueVariable(java.lang.String varname) Checks if this YoVariableHolder holds exactly one YoVariable with the given name.
boolean	hasUniqueVariable(java.lang.String nameSpace, java.lang.String varname) Checks if this YoVariableHolder holds exactly one YoVariable with the given nameSpace and name.
void	notifySimulateDoneListeners()
void	registerCollisionGroup(CollisionGroup group)
void	registerCollisionGroups(java.util.ArrayList groups)
void	registerVariable(YoVariable variable)
void	removeSimulateDoneListener(SimulateDoneListener listener)
void	removeStaticBranchGroup(javax.media.j3d.BranchGroup branchGroup)
void	setDT(double simulateDT, int recordFrequency)
void	setRecordDT(double recordDT)
void	setRobots(Robot[] robots)
void	setSimulateDoneCriterion(SimulateDoneCriterion criterion)
void	setupSimulationGraphics()
void	simulate(double simulationTime)
void	simulate(int numTicks)
void	tickAndUpdate()

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

Simulation

public Simulation(Robot robot,
                  int dataBufferSize)

Simulation

public Simulation(Robot[] robots,
                  int dataBufferSize)

Method Detail

getDT

public double getDT()

setDT

public void setDT(double simulateDT,
                  int recordFrequency)

setRecordDT

public void setRecordDT(double recordDT)

getRecordFreq

public long getRecordFreq()

addScript

public void addScript(Script script)

getAllVariables

public java.util.ArrayList<YoVariable> getAllVariables()

Description copied from interface: YoVariableHolder

Returns all the YoVariables in this YoVariableHolder

Specified by:

getAllVariables in interface YoVariableHolder

Returns:

ArrayList

getAllVariablesArray

public YoVariable[] getAllVariablesArray()

Description copied from interface: YoVariableHolder

Returns all the YoVariables in this YoVariableHolder

Specified by:

getAllVariablesArray in interface YoVariableHolder

Returns:

YoVariable[]

getVariable

public YoVariable getVariable(java.lang.String varname)

Description copied from interface: YoVariableHolder

Gets a YoVariable with the given name if it is in this YoVariableHolder, otherwise returns null. If name contains a ".", then the YoVariable's nameSpace ending must match that of name. If there is more than one YoVariable that matches, then throws a RuntimeException.

Specified by:

getVariable in interface YoVariableHolder

Parameters:

varname - String Name of YoVariable to get. If contains a ".", then YoVariable's nameSpace ending must match that of name.

Returns:

YoVariable matching the given name.

hasUniqueVariable

public boolean hasUniqueVariable(java.lang.String varname)

Description copied from interface: YoVariableHolder

Checks if this YoVariableHolder holds exactly one YoVariable with the given name. If so, returns true, otherwise returns false. If name contains a ".", then the YoVariable's nameSpace ending must match that of name. If there is more than one YoVariable that matches, returns false.

Specified by:

hasUniqueVariable in interface YoVariableHolder

Parameters:

varname - String Name of YoVariable to check for. If contains a ".", then YoVariable's nameSpace ending must match that of name.

Returns:

boolean Whether or not this YoVariableHolder holds exactly one Variable of the given name.

getVariable

public YoVariable getVariable(java.lang.String nameSpace,
                              java.lang.String varname)

Description copied from interface: YoVariableHolder

Gets a YoVariable with the given nameSpace and name if it is in this YoVariableHolder, otherwise returns null. If name contains a ".", then throws a RuntimeException. If there is more than one YoVariable that matches, then throws a RuntimeException.

Specified by:

getVariable in interface YoVariableHolder

Parameters:

nameSpace - String nameSpaceEnding ending of YoVariable to get. The YoVariable's nameSpace ending must match that of nameSpace.

varname - String Name of YoVariable to get. If contains a ".", then throws a RuntimeException.

Returns:

YoVariable matching the given nameSpace and name.

hasUniqueVariable

public boolean hasUniqueVariable(java.lang.String nameSpace,
                                 java.lang.String varname)

Description copied from interface: YoVariableHolder

Checks if this YoVariableHolder holds exactly one YoVariable with the given nameSpace and name. If so, returns true, otherwise returns false. If name contains a ".", then throws a RuntimeException. If there is more than one YoVariable that matches, returns false.

Specified by:

hasUniqueVariable in interface YoVariableHolder

Parameters:

nameSpace - String NameSpace ending of YoVariable to check for. The YoVariable's nameSpace ending must match that of nameSpace.

varname - String Name of YoVariable to check for. If contains a ".", then throws a RuntimeException.

Returns:

boolean Whether or not this YoVariableHolder holds exactly one Variable that matches the given nameSpace and name.

getVariables

public java.util.ArrayList<YoVariable> getVariables(java.lang.String nameSpace,
                                                    java.lang.String varname)

Description copied from interface: YoVariableHolder

Returns all the YoVariables with the given nameSpace and name that are in this YoVariableHolder, empty if there are none. If name contains a ".", then throws a RuntimeException.

Specified by:

getVariables in interface YoVariableHolder

Parameters:

nameSpace - String NameSpace ending of YoVariables to get. The YoVariable's nameSpace ending must match that of nameSpace.

varname - String Name of YoVariable to get. If contains a ".", then throws a RuntimeException.

Returns:

ArrayList matching the given nameSpace and name.

getVariables

public java.util.ArrayList<YoVariable> getVariables(java.lang.String varname)

Description copied from interface: YoVariableHolder

Returns all the YoVariables with the given name that are in this YoVariableHolder, empty if there are none. If name contains a ".", then the YoVariable's nameSpace ending must match that of name.

Specified by:

getVariables in interface YoVariableHolder

Parameters:

varname - String Name of YoVariable to get. If name contains a ".", then the YoVariable's nameSpace ending must match that of name.

Returns:

ArrayList matching the given name.

getVariables

public java.util.ArrayList<YoVariable> getVariables(NameSpace nameSpace)

Description copied from interface: YoVariableHolder

Returns all the YoVariables with the given nameSpace that are in this YoVariableHolder, empty if there are none.

Specified by:

getVariables in interface YoVariableHolder

Parameters:

nameSpace - NameSpace to match.

Returns:

ArrayList matching YoVariables.

registerVariable

public void registerVariable(YoVariable variable)

getVariablesThatContain

public java.util.ArrayList<YoVariable> getVariablesThatContain(java.lang.String searchString,
                                                               boolean caseSensitive)

getVariablesThatStartWith

public java.util.ArrayList<YoVariable> getVariablesThatStartWith(java.lang.String searchString)

getVars

public java.util.ArrayList getVars(java.lang.String[] varNames,
                                   java.lang.String[] regularExpressions)

setRobots

public void setRobots(Robot[] robots)

getDataBuffer

public DataBuffer getDataBuffer()

getRobots

public Robot[] getRobots()

getCombinedVarList

public VarList getCombinedVarList()

setSimulateDoneCriterion

public void setSimulateDoneCriterion(SimulateDoneCriterion criterion)

addSimulateDoneListener

public void addSimulateDoneListener(SimulateDoneListener listener)

removeSimulateDoneListener

public void removeSimulateDoneListener(SimulateDoneListener listener)

notifySimulateDoneListeners

public void notifySimulateDoneListeners()

checkSimulateDoneCriterion

public boolean checkSimulateDoneCriterion()

simulate

public void simulate(int numTicks)
              throws UnreasonableAccelerationException

Throws:

UnreasonableAccelerationException

tickAndUpdate

public void tickAndUpdate()

simulate

public void simulate(double simulationTime)
              throws UnreasonableAccelerationException

Throws:

UnreasonableAccelerationException

addStaticBranchGroup

public void addStaticBranchGroup(javax.media.j3d.BranchGroup staticBranchGroup)

removeStaticBranchGroup

public void removeStaticBranchGroup(javax.media.j3d.BranchGroup branchGroup)

setupSimulationGraphics

public void setupSimulationGraphics()

getSimulationGraphics

public StandardSimulationGraphics getSimulationGraphics()

addVarList

public void addVarList(VarList newVarList)
                throws DataBuffer.RepeatDataBufferEntryException

Throws:

DataBuffer.RepeatDataBufferEntryException

registerCollisionGroup

public void registerCollisionGroup(CollisionGroup group)

registerCollisionGroups

public void registerCollisionGroups(java.util.ArrayList groups)