RoboidControl.Thing Class Reference

Detailed Description

A thing is the primitive building block.

Inheritance diagram for RoboidControl.Thing:

Classes
class	Type
	Predefined thing types. More...

Public Member Functions
	Thing (byte thingType=Type.Undetermined, bool invokeEvent=true)
	Create a new thing without communication abilities.
	Thing (Participant owner, byte thingType=Type.Undetermined, byte thingId=0, bool invokeEvent=true)
	Create a new thing for a participant.
	Thing (Thing parent, byte thingType=Type.Undetermined, byte thingId=0, bool invokeEvent=true)
	Create a new child thing.
virtual void	CreateComponent ()
	Function which can be used to create components in external engines.
void	AddChild (Thing child)
	Add a child Thing to this Thing.
bool	RemoveChild (Thing child)
	Remove the given thing as a child of this thing.
void	Update (bool recurse=false)
	Update de state of the thing.
virtual void	Update (ulong currentTimeMs, bool recurse=false)
	Update this thing.
delegate void	ChangeHandler ()
delegate void	SphericalHandler (Spherical v)
delegate void	ThingHandler (Thing t)
virtual byte[]	GenerateBinary ()
	Function used to generate binary data for this thing.
virtual void	ProcessBinary (byte[] bytes)
	Function used to process binary data received for this thing.

Static Public Member Functions
static ulong	GetTimeMs ()
	Get the current time in milliseconds.
static void	InvokeNewThing (Thing thing)
	Trigger the creation for the given thing.

Public Attributes
bool	terminate = false
Participant	owner = null
	The participant owning this thing.
byte	id = 0
	The ID of this thing.
byte	type = Type.Undetermined
	The type of this thing.
bool	nameChanged = false
string	modelUrl = ""
	An URL pointing to the location where a model of the thing can be found.
Unity.Thing	component = null
	A reference to the representation of the thing in Unity.
bool	hierarchyChanged = true
	Indicator that the hierarchy of the thing has changed.
bool	positionUpdated = false
	Boolean indicating that the thing has an updated position.
bool	orientationUpdated = false
	Boolean indicating the thing has an updated orientation.
bool	linearVelocityUpdated = false
	Boolean indicating the thing has an updated linear velocity.
bool	angularVelocityUpdated = false
	Boolean indicating the thing has an updated angular velocity.

Protected Attributes
List< Thing >	children = new()
	The children of this thing.

Properties
virtual string	name [get, set]
	The name of the thing.
Thing	parent [get, set]
	The parent of this thing.
Spherical	position [get, set]
	The position of the thing in local space, in meters.
SwingTwist	orientation [get, set]
	The orientation of the thing in local space.
Spherical	linearVelocity [get, set]
	The linear velocity of the thing in local space in meters per second.
Spherical	angularVelocity [get, set]
	The angular velocity of the thing in local space in degrees per second.

Events
ChangeHandler	OnNameChanged = delegate { }
	Event which is triggered when the name changes.
ChangeHandler	OnPoseChanged = delegate { }
	Event triggered when the pose has changed.
SphericalHandler	OnLinearVelocityChanged = delegate { }
	Event triggered when the linear velocity has changed.
SphericalHandler	OnAngularVelocityChanged = delegate { }
	Event triggered when the angular velocity has changed.
static ThingHandler	OnNewThing = delegate { }
	Event triggered when a new thing has been created.

Constructor & Destructor Documentation

Thing() [1/3]

RoboidControl.Thing.Thing	(	byte	thingType = Type::Undetermined,
		bool	invokeEvent = true
	)

Create a new thing without communication abilities.

Parameters

thingType	The type of thing (can use Thing.Type)
invokeEvent	Invoke a OnNewThing event when the thing has been created

Thing() [2/3]

RoboidControl.Thing.Thing	(	Participant	owner,
		byte	thingType = Type::Undetermined,
		byte	thingId = 0,
		bool	invokeEvent = true
	)

Create a new thing for a participant.

Parameters

owner	The owning participant
thingType	The type of thing (can use Thing.Type)
thingId	The ID of the thing, leave out or set to zero to generate an ID
invokeEvent	Invoke a OnNewThing event when the thing has been created

Thing() [3/3]

RoboidControl.Thing.Thing	(	Thing	parent,
		byte	thingType = Type::Undetermined,
		byte	thingId = 0,
		bool	invokeEvent = true
	)

Create a new child thing.

Parameters

parent	The parent thing
thingType	The type of thing (can use Thing.Type)
thingId	The ID of the thing, leave out or set to zero to generate an ID
invokeEvent	Invoke a OnNewThing event when the thing has been created

<note>The owner will be the same as the owner of the parent thing</note>

Member Function Documentation

CreateComponent()

virtual void RoboidControl.Thing.CreateComponent ( )

virtual

Function which can be used to create components in external engines.

Currently this is used to create GameObjects in Unity

Reimplemented in RoboidControl.DigitalSensor, RoboidControl.DistanceSensor, and RoboidControl.TouchSensor.

AddChild()

void RoboidControl.Thing.AddChild

(

Thing

child

)

Add a child Thing to this Thing.

Parameters

child

The Thing which should become a child

Remarks

When the Thing is already a child, it will not be added again

RemoveChild()

bool RoboidControl.Thing.RemoveChild

(

Thing

child

)

Remove the given thing as a child of this thing.

Parameters

child

The child to remove

Returns

True when the child was present or false when it was not found

GetTimeMs()

static ulong RoboidControl.Thing.GetTimeMs ( )

static

Get the current time in milliseconds.

Returns

The current time in milliseconds

Update() [1/2]

void RoboidControl.Thing.Update

(

bool

recurse = false

)

Update de state of the thing.

Parameters

recurse

When true, this will Update the descendants recursively

Update() [2/2]

virtual void RoboidControl.Thing.Update ( ulong  currentTimeMs, bool  recurse = false  )

virtual

Update this thing.

Parameters

currentTime	he current clock time in milliseconds; if this is zero, the current time is retrieved automatically
recurse	When true, this will Update the descendants recursively

Reimplemented in RoboidControl.DifferentialDrive.

InvokeNewThing()

static void RoboidControl.Thing.InvokeNewThing ( Thing  thing )

static

Trigger the creation for the given thing.

Parameters

thing

The created thing

GenerateBinary()

virtual byte[] RoboidControl.Thing.GenerateBinary ( )

virtual

Function used to generate binary data for this thing.

Returns

A byte array with the binary data

See also

Passer::RoboidControl::BinaryMsg

Reimplemented in RoboidControl.DigitalSensor, RoboidControl.TemperatureSensor, and RoboidControl.TouchSensor.

ProcessBinary()

virtual void RoboidControl.Thing.ProcessBinary ( byte[]  bytes )

virtual

Function used to process binary data received for this thing.

Parameters

bytes

The binary data to process

Reimplemented in RoboidControl.DigitalSensor, RoboidControl.DistanceSensor, RoboidControl.TemperatureSensor, and RoboidControl.TouchSensor.

Member Data Documentation

type

byte RoboidControl.Thing.type = Type.Undetermined

The type of this thing.

This can be either a Thing.Type or a byte value for custom types.