SurgSim::Testing::MockPhysicsManager Class Reference

Testing class used to publicly expose PhysicsManager's protected member functions. More...

`#include <SurgSim/Testing/MockPhysicsManager.h>`

Inheritance diagram for SurgSim::Testing::MockPhysicsManager:

## Public Member Functions

bool | executeAdditions (const std::shared_ptr< SurgSim::Framework::Component > &component) override
| Adds a component. More...
bool | executeRemovals (const std::shared_ptr< SurgSim::Framework::Component > &component) override
| Handle representations, override for each thread. More...
bool | doInitialize () override
| Initialize the Physics Manager Derived class(es) should override this method to have a customized list of computations. More...
bool | doStartUp () override
virtual bool | doUpdate (double dt)
| Implementation of actual work function for this thread, this has a default implementation to handle destruction better, as it could be called while the thread is under destruction, if left unimplemented this would trigger a call to a pure virtual function. More...
Public Member Functions inherited from SurgSim::Physics::PhysicsManager
| PhysicsManager ()
| Constructor. More...
virtual | ~PhysicsManager ()
int | getType () const override
| Overrides ComponentManager::getType() More...
void | getFinalState (SurgSim::Physics::PhysicsManagerState *s) const
| Get the last PhysicsManagerState from the previous PhysicsManager update. More...
void | addComputation (std::shared_ptr< SurgSim::Physics::Computation > computation)
| Add a computation to the list of computations to perform each update. More...
void | setComputations (std::vector< std::shared_ptr< Physics::Computation >> computations)
| Set a group of computations, the computations will be run in the order in the vector. More...
Public Member Functions inherited from SurgSim::Framework::ComponentManager
| ComponentManager (const std::string &name="Unknown Component Manager")
virtual | ~ComponentManager ()
bool | enqueueAddComponent (const std::shared_ptr< Component > &component)
| Queues a component to be added later. More...
bool | enqueueRemoveComponent (const std::shared_ptr< Component > &component)
| Queues a component to be removed. More...
std::shared_ptr< Runtime > | getRuntime () const
void | setRuntime (std::shared_ptr< Runtime > val)
Public Member Functions inherited from SurgSim::Framework::BasicThread
| BasicThread (const std::string &name="Unknown Thread")
virtual | ~BasicThread () noexcept(false)
| C++11 introduced noexcept. More...
void | start (std::shared_ptr< Barrier > startupBarrier=nullptr, bool isSynchronous=false)
| C++11 introduced noexcept. More...
void | stop ()
| Stopping the execution, blocks until the running thread has actually stopped,. More...
void | setIdle (bool isIdle)
| Set/Unset the thread in an idle state (doUpdate() called or not in the update() method) More...
bool | isIdle ()
| Query if this thread is in idle state or not. More...
bool | isInitialized ()
| Query if this object is initialized. More...
bool | isRunning () const
| Query if this object is running. More...
void | operator() ()
| This is what boost::thread executes on thread creation. More...
boost::thread & | getThread ()
std::string | getName () const
void | setRate (double val)
| Set the update rate of the thread. More...
bool | setSynchronous (bool val)
| Sets the thread to synchronized execution in concert with the startup barrier, the startup barrier has to exist for this call to succeed. More...
bool | isSynchronous ()
| Query if this object is synchronized. More...
double | getCpuTime () const
size_t | getUpdateCount () const
void | resetCpuTimeAndUpdateCount ()
| Reset the cpu time and the update count to 0. More...

## Additional Inherited Members

Protected Member Functions inherited from SurgSim::Physics::PhysicsManager
void | doBeforeStop () override
| Prepares the thread for its execution to be stopped. More...
Protected Member Functions inherited from SurgSim::Framework::ComponentManager
template<class T >
std::shared_ptr< T > | tryAddComponent (std::shared_ptr< SurgSim::Framework::Component > component, std::vector< std::shared_ptr< T >> *container)
| Template version of the addComponent method. More...
template<class T >
bool | tryRemoveComponent (std::shared_ptr< SurgSim::Framework::Component > component, std::vector< std::shared_ptr< T >> *container)
| Template version of the removeComponent method. More...
void | processComponents ()
| Processes all the components that are scheduled for addition or removal, this needs to be called inside the doUpdate() function. More...
void | processBehaviors (const double dt)
| Processes behaviors This needs to be called inside doUpdate() function in each 'sub' manager. More...
void | copyScheduledComponents (std::vector< std::shared_ptr< Component >> *inflightAdditions, std::vector< std::shared_ptr< Component >> *inflightRemovals, std::vector< std::shared_ptr< SceneElement >> *inflightElements)
| Helper, blocks access to the additions and removal queue and copies the components from there to the intermediate inflight queues, after this call, the incoming queues will be empty. More...
std::shared_ptr< SurgSim::Framework::Logger > | getLogger () const
| Returns this manager's logger. More...
template<class T >
void | retireComponents (const std::vector< std::shared_ptr< T >> &container)
Protected Member Functions inherited from SurgSim::Framework::BasicThread
bool | initialize ()
| Trigger the initialization of this object, this will be called before all other threads doStartup() are called. More...
bool | startUp ()
| Trigger the startup of this object, this will be called after all other threads doInit() was called the thread will only enter the run loop triggering upated() if all threads doInit() and doStartup() returned true. More...
bool | waitForBarrier (bool success)
Protected Attributes inherited from SurgSim::Physics::PhysicsManager
std::vector< std::shared_ptr< Representation > > | m_representations
std::vector< std::shared_ptr< Collision::Representation > > | m_collisionRepresentations
std::vector< std::shared_ptr< Collision::ContactFilter > > | m_contactFilters
std::vector< std::shared_ptr< Particles::Representation > > | m_particleRepresentations
std::vector< std::shared_ptr< ConstraintComponent > > | m_constraintComponents
std::vector< std::shared_ptr< SurgSim::Physics::Computation > > | m_computations
| A list of computations, to perform the physics update. More...
SurgSim::Framework::LockedContainer< SurgSim::Physics::PhysicsManagerState > | m_finalState
| A thread-safe copy of the last PhysicsManagerState in the previous update. More...
Protected Attributes inherited from SurgSim::Framework::ComponentManager
boost::mutex | m_componentMutex
| Blocks protects addition and removal queues. More...
std::vector< std::shared_ptr< SurgSim::Framework::Behavior > > | m_behaviors
| Collection of behaviors. More...
std::vector< std::shared_ptr< Component > > | m_componentAdditions
std::vector< std::shared_ptr< Component > > | m_componentRemovals
std::vector< std::shared_ptr< SceneElement > > | m_elementCache
Protected Attributes inherited from SurgSim::Framework::BasicThread
Timer | m_timer
| Timer to measure the actual time taken to doUpdate. More...
std::shared_ptr< SurgSim::Framework::Logger > | m_logger
| Logger for this thread. More...

## Detailed Description

Testing class used to publicly expose PhysicsManager's protected member functions.

## Member Function Documentation

## doInitialize()

bool SurgSim::Testing::MockPhysicsManager::doInitialize | ( |  | ) |

inline override virtual

Initialize the Physics Manager Derived class(es) should override this method to have a customized list of computations.

Note
  Current default is to only use DCD contacts

See also
  SurgSim::Physics::Computation

Reimplemented from SurgSim::Physics::PhysicsManager.

## doStartUp()

bool SurgSim::Testing::MockPhysicsManager::doStartUp | ( |  | ) |

inline override virtual

Reimplemented from SurgSim::Physics::PhysicsManager.

## doUpdate()

virtual bool SurgSim::Testing::MockPhysicsManager::doUpdate | ( | double | dt | ) |

inline virtual

Implementation of actual work function for this thread, this has a default implementation to handle destruction better, as it could be called while the thread is under destruction, if left unimplemented this would trigger a call to a pure virtual function.

Returns
  false when the thread is done, this will stop execution

Reimplemented from SurgSim::Physics::PhysicsManager.

## executeAdditions()

bool SurgSim::Testing::MockPhysicsManager::executeAdditions | ( | const std::shared_ptr< SurgSim::Framework::Component > & | component | ) |

inline override virtual

Adds a component.

Parameters

  component | The component to be added.

Returns
  true if the component was scheduled for addition, this does not indicate that the component will actually be added to this manager.

Reimplemented from SurgSim::Physics::PhysicsManager.

## executeRemovals()

bool SurgSim::Testing::MockPhysicsManager::executeRemovals | ( | const std::shared_ptr< SurgSim::Framework::Component > & | component | ) |

inline override virtual

Handle representations, override for each thread.

Parameters

  component | The component to be removed.

Returns
  true if the component was scheduled for removal, this does not indicate that the component will actually be removed from this manager.

Reimplemented from SurgSim::Physics::PhysicsManager.

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

- SurgSim/Testing/MockPhysicsManager.h