#include <mj_kdl_wrapper.hpp>

Public Member Functions
	Env ()
	~Env ()
	Env (const Env &)=delete
Env &	operator= (const Env &)=delete

Public Attributes
SceneSpec	spec
mjModel *	model = nullptr
mjData *	data = nullptr
std::vector< Robot * >	robots
SceneState	scene
Viewer	viewer
ResetHook	on_reset
std::function< std::pair< mjModel , mjData >(mjModel , mjData )>	adopt
std::unique_ptr< EnvInternals >	_impl

Detailed Description

The simulation: the compiled scene and everything that reads, commands or shows it. init_env() builds it; step(), update() and reset() drive it; cleanup(Env *) frees it. Robots are borrowed: registered by init_robot_from_mjcf() / init_robot_from_chain(), never deleted here. Not copied or moved (robots and slots point into it).

Definition at line 613 of file mj_kdl_wrapper.hpp.

Constructor & Destructor Documentation

◆ Env() [1/2]

mj_kdl::Env::Env ( )

Referenced by Env(), and operator=().

◆ ~Env()

mj_kdl::Env::~Env ( )

◆ Env() [2/2]

mj_kdl::Env::Env ( const Env & )

delete

References Env().

Member Function Documentation

◆ operator=()

Env & mj_kdl::Env::operator= ( const Env & )

delete

References Env().

Member Data Documentation

◆ _impl

std::unique_ptr<EnvInternals> mj_kdl::Env::_impl

Definition at line 630 of file mj_kdl_wrapper.hpp.

◆ adopt

std::function<std::pair<mjModel *, mjData *>(mjModel *, mjData *)> mj_kdl::Env::adopt

Definition at line 623 of file mj_kdl_wrapper.hpp.

Referenced by TEST().

◆ data

mjData* mj_kdl::Env::data = nullptr

Definition at line 617 of file mj_kdl_wrapper.hpp.

Referenced by main(), main(), TEST(), TEST(), TEST(), TEST(), TEST(), and TEST_P().

◆ model

mjModel* mj_kdl::Env::model = nullptr

Definition at line 616 of file mj_kdl_wrapper.hpp.

Referenced by main(), main(), TEST(), TEST(), TEST(), TEST(), TEST(), TEST_F(), TEST_P(), and TEST_P().

◆ on_reset

ResetHook mj_kdl::Env::on_reset

Definition at line 621 of file mj_kdl_wrapper.hpp.

Referenced by main(), and main().

◆ robots

std::vector<Robot *> mj_kdl::Env::robots

Definition at line 618 of file mj_kdl_wrapper.hpp.

◆ scene

SceneState mj_kdl::Env::scene

Definition at line 619 of file mj_kdl_wrapper.hpp.

Referenced by main().

◆ spec

SceneSpec mj_kdl::Env::spec

Definition at line 615 of file mj_kdl_wrapper.hpp.