#include <Demo.h>

Public Member Functions
	Demo (b2World *m_world, config::sConfig cfg)

bool	addRobotWithDelay ()

bool	addRobotWithDistance ()

void	createBridgeFile ()

void	demoLoop ()

double	getBridgeHeight ()

RobotController	getController ()

double	getNewPathLength ()

sf::RenderWindow *	getWindow ()

void	init ()

void	takeScreenshot (bool draw, int step)

void	writeResultFile ()

void	writeBridgeFile ()

Protected Attributes
b2World *	m_world = nullptr

Detailed Description

The Demo class gather all the elements of the simulation: the terrain, the robot controller and the robots and implement more abstract simulation methods. Those methods handle the robot interaction with the terrain and between themselves ie the group behavior. This is why the robots are only created via the robot controller. It also handle the simulation results by writing them in two distinct files:

The overall result file with the summary of the results
The bridge file that gather the timestep and position of every robots entering the bridge state. It is updated every time a new robot enter the bridge state.

Definition at line 60 of file Demo.h.

Constructor & Destructor Documentation

◆ Demo()

Demo::Demo	(	b2World *	m_world,
		config::sConfig	cfg
	)

Initial x position of the robot in the world

Initial y position of the robot

Definition at line 41 of file Demo.cpp.

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Member Function Documentation

◆ addRobotWithDelay()

bool Demo::addRobotWithDelay ( )

Create a new robot after a given delay defined by m_config.simulation.robot_delay (which has been obtained as an argument of the Demo object creation) until the maximum number of robots have been reached. The traffic is thus controlled by the initial position and the delay between the robots.

Returns: false if the robots are stacking (the previous robot too close to the one that will be created)

Definition at line 261 of file Demo.cpp.

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◆ addRobotWithDistance()

bool Demo::addRobotWithDistance ( )

Create a new robot when a given distance with the previous robot defined by m_config.simulation.robot_distance has been reached and the previous robot has an angle corresponding to the desired phase shift. It does so until the maximum number of robots have been reached. The traffic is thus controlled by the distance between the robots and the phase shift.

Returns: true when a new robot is created.

Definition at line 301 of file Demo.cpp.

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◆ createBridgeFile()

void Demo::createBridgeFile ( )

Create bridge file under m_bridgeFile. Every line is structured as follow: Timestamp; robot ID; x coordinate; y coordinate; angle; current joint x; current joint y; previous joint x; previous joint y; it entry; age

Definition at line 550 of file Demo.cpp.

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◆ demoLoop()

Both cases are then almost identical apart from the simulation part void Demo::demoLoop ( )

Simulation loop that handle the synchronization between the physics and the controller step. The visualization is activated or deactivated via m_config.simulation.visualization. The Simulation is composed of two steps: the bridge formation where new robots are created following the given delay or distance and the bridge dissolution step where no more robots are created. The duration of the two steps are determined by respectively m_config.simulation.bridge_duration and m_config.simulation.dissolution_duration. The results are written in the two distinct files.

Data processing Precise the simulation parameters: distance between robots, speed Get time of the first bridge contact get time when the last robot enter the stable bridge state get points of contact for every robot + position and orientation of center

Definition at line 95 of file Demo.cpp.

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◆ getBridgeHeight()

double Demo::getBridgeHeight ( )

Get the bridge height. This function is not up to date and should not be used in this state

Definition at line 353 of file Demo.cpp.

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◆ getController()

RobotController Demo::getController ( )

Get the robot controller object Rq: in future development, could be adapted to be a pointer

Returns: the robot controller object

Definition at line 344 of file Demo.cpp.

◆ getNewPathLength()

double Demo::getNewPathLength ( )

Get the new path length induced by the bridge from the left corner of the obstacle to its right corner. This function is not up to date and should not be used in this state.

Definition at line 390 of file Demo.cpp.

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◆ getWindow()

sf::RenderWindow * Demo::getWindow ( )

Get a pointer on the SFML window

Returns: a pointer on the SFML window

Definition at line 348 of file Demo.cpp.

◆ init()

void Demo::init ( )

Initialize the demo

Definition at line 86 of file Demo.cpp.

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◆ takeScreenshot()

void Demo::takeScreenshot	(	bool	draw,
		int	step
	)

Take a screenshot of the simulation at a given time step. The image is saved under m_config.logfile_path + m_config.logfile_name + "_dissolution_" + std::to_string(m_currentIt) + ".jpg"

Parameters

draw	should be true if the window has to be drawn beforehand. It is the case when the visualization is deactivated
step	is the simulation step: it is either 1 if the simulation is in the bridge formation step or 2 if the simulation is in the bridge dissolution one.

Definition at line 598 of file Demo.cpp.

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◆ writeBridgeFile()

void Demo::writeBridgeFile ( )

Write the file containing the bridge formation details. This file is updated every time a new robot enter the bridge state The file is saved under m_config.logfile_path + m_config.logfile_name + "_bridge.txt";

Robot id and age

Robot position

Joint position

Definition at line 556 of file Demo.cpp.

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◆ writeResultFile()

void Demo::writeResultFile ( )

Write the file containing the summary of the simulation results The file is saved under m_config.logfile_path + m_config.logfile_name + "_result.txt";

Terrain parameters

Simulation parameters

Controller parameters

Controller parameters

Bridge parameters
Dissolution parameters

Definition at line 446 of file Demo.cpp.

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

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Demo()

Member Function Documentation

◆ addRobotWithDelay()

◆ addRobotWithDistance()

◆ createBridgeFile()

◆ demoLoop()

◆ getBridgeHeight()

◆ getController()

◆ getNewPathLength()

◆ getWindow()

◆ init()

◆ takeScreenshot()

◆ writeBridgeFile()

◆ writeResultFile()