134 lines
3.3 KiB
C++
134 lines
3.3 KiB
C++
/*
|
|
* Copyright (C) 2012 Open Source Robotics Foundation
|
|
*
|
|
* Licensed under the Apache License, Version 2.0 (the "License");
|
|
* you may not use this file except in compliance with the License.
|
|
* You may obtain a copy of the License at
|
|
*
|
|
* http://www.apache.org/licenses/LICENSE-2.0
|
|
*
|
|
* Unless required by applicable law or agreed to in writing, software
|
|
* distributed under the License is distributed on an "AS IS" BASIS,
|
|
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
* See the License for the specific language governing permissions and
|
|
* limitations under the License.
|
|
*
|
|
*/
|
|
|
|
#include "gazebo/common/Exception.hh"
|
|
#include "gazebo/physics/State.hh"
|
|
|
|
using namespace gazebo;
|
|
using namespace physics;
|
|
|
|
/////////////////////////////////////////////////
|
|
State::State()
|
|
{
|
|
this->wallTime = common::Time::GetWallTime();
|
|
}
|
|
|
|
/////////////////////////////////////////////////
|
|
State::State(const std::string &_name, const common::Time &_realTime,
|
|
const common::Time &_simTime, const uint64_t _iterations)
|
|
: name(_name), wallTime(common::Time::GetWallTime()), realTime(_realTime),
|
|
simTime(_simTime), iterations(_iterations)
|
|
{
|
|
}
|
|
|
|
/////////////////////////////////////////////////
|
|
State::~State()
|
|
{
|
|
}
|
|
|
|
/////////////////////////////////////////////////
|
|
void State::Load(const sdf::ElementPtr /*_elem*/)
|
|
{
|
|
}
|
|
|
|
/////////////////////////////////////////////////
|
|
std::string State::GetName() const
|
|
{
|
|
return this->name;
|
|
}
|
|
|
|
/////////////////////////////////////////////////
|
|
void State::SetName(const std::string &_name)
|
|
{
|
|
this->name = _name;
|
|
}
|
|
|
|
/////////////////////////////////////////////////
|
|
common::Time State::GetWallTime() const
|
|
{
|
|
return this->wallTime;
|
|
}
|
|
|
|
/////////////////////////////////////////////////
|
|
common::Time State::GetRealTime() const
|
|
{
|
|
return this->realTime;
|
|
}
|
|
|
|
/////////////////////////////////////////////////
|
|
common::Time State::GetSimTime() const
|
|
{
|
|
return this->simTime;
|
|
}
|
|
|
|
/////////////////////////////////////////////////
|
|
uint64_t State::GetIterations() const
|
|
{
|
|
return this->iterations;
|
|
}
|
|
|
|
/////////////////////////////////////////////////
|
|
State &State::operator=(const State &_state)
|
|
{
|
|
this->name = _state.name;
|
|
this->wallTime = _state.wallTime;
|
|
this->realTime = _state.realTime;
|
|
this->simTime = _state.simTime;
|
|
this->iterations = _state.iterations;
|
|
|
|
return *this;
|
|
}
|
|
|
|
/////////////////////////////////////////////////
|
|
State State::operator-(const State &_state) const
|
|
{
|
|
// Make sure the names match
|
|
if (_state.name != this->name)
|
|
{
|
|
gzthrow("Invalid state substraction operator this[" + this->name +
|
|
"] != [" + _state.name + "]\n");
|
|
}
|
|
|
|
return State(this->name, this->realTime - _state.realTime,
|
|
this->simTime - _state.simTime,
|
|
this->iterations - _state.iterations);
|
|
}
|
|
|
|
/////////////////////////////////////////////////
|
|
void State::SetWallTime(const common::Time &_time)
|
|
{
|
|
this->wallTime = _time;
|
|
}
|
|
|
|
/////////////////////////////////////////////////
|
|
void State::SetRealTime(const common::Time &_time)
|
|
{
|
|
this->realTime = _time;
|
|
}
|
|
|
|
/////////////////////////////////////////////////
|
|
void State::SetSimTime(const common::Time &_time)
|
|
{
|
|
this->simTime = _time;
|
|
}
|
|
|
|
/////////////////////////////////////////////////
|
|
void State::SetIterations(const uint64_t _iterations)
|
|
{
|
|
this->iterations = _iterations;
|
|
}
|