• 11.VREP的API函数大全6


    目录

     

    51.页面和视图

    52.设置/获取仿真参数

    53.Reflexxes运动库-Ⅱ或Ⅳ

    54.幽灵对象

    55.打包/解压

    56.栈

    57.对象参数

    58. 调试

    59.物理引擎参数

    60.其它命令


    51.页面和视图

    sim.floatingViewAdd (Lua)                              simFloatingViewAdd (C/C++)

    sim.floatingViewRemove (Lua)                           simFloatingViewRemove (C/C++)

    sim.adjustView (Lua)                                   simAdjustView (C/C++)

    sim.cameraFitToView (Lua)                              simCameraFitToView (C/C++)

     

    52.设置/获取仿真参数

    sim.getArrayParameter (Lua)                            simGetArrayParameter (C/C++)

    sim.setArrayParameter (Lua)                            simSetArrayParameter (C/C++)

    sim.getBoolParameter (Lua)                             simGetBoolParameter (C/C++)

    sim.setBoolParameter (Lua)                             simSetBoolParameter (C/C++)

    sim.getInt32Parameter (Lua)                            simGetInt32Parameter (C/C++)

    sim.setInt32Parameter (Lua)                            simSetInt32Parameter (C/C++)

    sim.getFloatParameter (Lua)                            simGetFloatParameter (C/C++)

    sim.setFloatParameter (Lua)                            simSetFloatParameter (C/C++)

    sim.getStringParameter (Lua)                           simGetStringParameter (C/C++)

    sim.setStringParameter (Lua)                           simSetStringParameter (C/C++)

    sim.getStringNamedParam (Lua)                          simGetStringNamedParam (C/C++)

    sim.setStringNamedParam (Lua)                          simSetStringNamedParam (C/C++)

                                                           simGetUInt64Parameter (C/C++)

     

    53.Reflexxes运动库-Ⅱ或Ⅳ

    sim.rmlMoveToJointPositions (Lua)

    sim.rmlMoveToPosition (Lua)

    sim.rmlPos (Lua)                                       simRMLPos (C/C++)

    sim.rmlVel (Lua)                                       simRMLVel (C/C++)

    sim.rmlStep (Lua)                                      simRMLStep (C/C++)

    sim.rmlRemove (Lua)                                    simRMLRemove (C/C++)

     

    54.幽灵对象

    sim.addGhost (Lua)                                     simAddGhost (C/C++)

    sim.modifyGhost (Lua)                                  simModifyGhost (C/C++)

     

    55.打包/解压

    sim.packUInt8Table (Lua)

    sim.packDoubleTable (Lua)

    sim.packFloatTable (Lua)

    sim.packInt32Table (Lua)

    sim.packUInt32Table (Lua)

    sim.packUInt16Table (Lua)

    sim.packTable (Lua)                                    simPackTable (C/C++)

    sim.unpackUInt8Table (Lua)

    sim.unpackDoubleTable (Lua)

    sim.unpackFloatTable (Lua)

    sim.unpackInt32Table (Lua)

    sim.unpackUInt32Table (Lua)

    sim.unpackUInt16Table (Lua)

    sim.unpackTable (Lua)                                  simUnpackTable (C/C++)

    sim.transformBuffer (Lua)

     

    56.栈

                                                           simCreateStack (C/C++)

                                                           simReleaseStack (C/C++)

                                                           simCopyStack (C/C++)

                                                           simPushNullOntoStack (C/C++)

                                                           simPushBoolOntoStack (C/C++)

                                                           simPushInt32OntoStack (C/C++)

                                                           simPushFloatOntoStack (C/C++)

                                                           simPushDoubleOntoStack (C/C++)

                                                           simPushStringOntoStack (C/C++)

                                                           simPushUInt8TableOntoStack (C/C++)

                                                           simPushInt32TableOntoStack (C/C++)

                                                           simPushFloatTableOntoStack (C/C++)

                                                           simPushDoubleTableOntoStack (C/C++)

                                                           simPushTableOntoStack (C/C++)

                                                           simInsertDataIntoStackTable (C/C++)

                                                           simGetStackSize (C/C++)

                                                           simPopStackItem (C/C++)

                                                           simMoveStackItemToTop (C/C++)

                                                           simIsStackValueNull (C/C++)

                                                           simGetStackBoolValue (C/C++)

                                                           simGetStackInt32Value (C/C++)

                                                           simGetStackFloatValue (C/C++)

                                                           simGetStackDoubleValue (C/C++)

                                                           simGetStackStringValue (C/C++)

                                                           simGetStackTableInfo (C/C++)

                                                           simGetStackUInt8Table (C/C++)

                                                           simGetStackInt32Table (C/C++)

                                                           simGetStackFloatTable (C/C++)

                                                           simGetStackDoubleTable (C/C++)

                                                           simUnfoldStackTable (C/C++)

                                                           simDebugStack (C/C++)

    sim.packTable (Lua)                                    simPackTable (C/C++)

    sim.unpackTable (Lua)                                  simUnpackTable (C/C++)

     

    57.对象参数

    sim.getObjectInt32Parameter (Lua)                      simGetObjectInt32Parameter (C/C++)

    sim.setObjectInt32Parameter (Lua)                      simSetObjectInt32Parameter (C/C++)

    sim.getObjectFloatParameter (Lua)                      simGetObjectFloatParameter (C/C++)

    sim.setObjectFloatParameter (Lua)                      simSetObjectFloatParameter (C/C++)

    sim.getObjectStringParameter (Lua)                     simGetObjectStringParameter (C/C++)

    sim.setObjectStringParameter (Lua)                     simSetObjectStringParameter (C/C++)

     

    58. 调试

    sim.setDebugWatchList (Lua)

    sim.getUserVariables (Lua)

     

    59.物理引擎参数

    sim.getEngineFloatParameter (Lua)                      simGetEngineFloatParameter (C/C++)

    sim.getEngineInt32Parameter (Lua)                      simGetEngineInt32Parameter (C/C++)

    sim.getEngineBoolParameter (Lua)                       simGetEngineBoolParameter (C/C++)

    sim.setEngineFloatParameter (Lua)                      simSetEngineFloatParameter (C/C++)

    sim.setEngineInt32Parameter (Lua)                      simSetEngineInt32Parameter (C/C++)

    sim.setEngineBoolParameter (Lua)                       simSetEngineBoolParameter (C/C++)

     

    60.其它命令

    sim.announceSceneContentChange (Lua)                   simAnnounceSceneContentChange (C/C++)

    sim.getNavigationMode (Lua)                            simGetNavigationMode (C/C++)

    sim.setNavigationMode (Lua)                            simSetNavigationMode (C/C++)

    sim.getPage (Lua)                                      simGetPage (C/C++)

    sim.setPage (Lua)                                      simSetPage (C/C++)

    sim.displayDialog (Lua)                                simDisplayDialog (C/C++)

    sim.getDialogInput (Lua)                               simGetDialogInput (C/C++)

    sim.getDialogResult (Lua)                              simGetDialogResult (C/C++)

    sim.endDialog (Lua)                                    simEndDialog (C/C++)

    sim.getArrayParameter (Lua)                            simGetArrayParameter (C/C++)

    sim.setArrayParameter (Lua)                            simSetArrayParameter (C/C++)

    sim.getBoolParameter (Lua)                             simGetBoolParameter (C/C++)

    sim.setBoolParameter (Lua)                             simSetBoolParameter (C/C++)

    sim.getInt32Parameter (Lua)                            simGetInt32Parameter (C/C++)

    sim.setInt32Parameter (Lua)                            simSetInt32Parameter (C/C++)

                                                           simGetUInt64Parameter (C/C++)

    sim.getFloatParameter (Lua)                            simGetFloatParameter (C/C++)

    sim.setFloatParameter (Lua)                            simSetFloatParameter (C/C++)

    sim.getStringParameter (Lua)                           simGetStringParameter (C/C++)

    sim.setStringParameter (Lua)                           simSetStringParameter (C/C++)

    sim.getStringNamedParam (Lua)                          simGetStringNamedParam (C/C++)

    sim.setStringNamedParam (Lua)                          simSetStringNamedParam (C/C++)

    sim.getLastError (Lua)                                 simGetLastError (C/C++)

                                                           simSetLastError (C/C++)

    sim.getCollectionName (Lua)                            simGetCollectionName (C/C++)

    sim.setCollectionName (Lua)                            simSetCollectionName (C/C++)

    sim.removeCollection (Lua)                             simRemoveCollection (C/C++)

    sim.getModuleName (Lua)                                simGetModuleName (C/C++)

    sim.getNameSuffix (Lua)                                simGetNameSuffix (C/C++)

    sim.setNameSuffix (Lua)                                simSetNameSuffix (C/C++)

    sim.getNavigationMode (Lua)                            simGetNavigationMode (C/C++)

    sim.getSystemTime (Lua)                                simGetSystemTime (C/C++)

    sim.getSystemTimeInMs (Lua)                            simGetSystemTimeInMs (C/C++)

    sim.addStatusbarMessage (Lua)                          simAddStatusbarMessage (C/C++)

    sim.refreshDialogs (Lua)                               simRefreshDialogs (C/C++)

    sim.setThreadSwitchTiming (Lua)

    sim.switchThread (Lua)                                 simSwitchThread (C/C++)

    sim.setThreadIsFree (Lua)                              simSetThreadIsFree (C/C++)

    sim.setThreadResumeLocation (Lua)

    sim.getExplicitHandling (Lua)                          simGetExplicitHandling (C/C++)

    sim.setExplicitHandling (Lua)                          simSetExplicitHandling (C/C++)

    sim.launchExecutable (Lua)

    sim.fileDialog (Lua)                                   simFileDialog (C/C++)

    sim.msgBox (Lua)                                       simMsgBox (C/C++)

    sim.quitSimulator (Lua)                                simQuitSimulator (C/C++)

    sim.getThreadId (Lua)                                  simGetThreadId (C/C++)

                                                           simEnableEventCallback (C/C++)

                                                           simLockResources (C/C++)

                                                           simUnlockResources (C/C++)

    sim.getExtensionString (Lua)                           simGetExtensionString (C/C++)

                                                           simOpenTextEditor (C/C++)

    sim.textEditorClose (Lua)

    sim.textEditorGetInfo (Lua)

    sim.textEditorOpen (Lua)

    sim.textEditorShow (Lua)

     

    Following are additional API functions, only available from the C/C++ interface, that extend functionality and allow faster data access. They however do not perform input data checking, so use them wisely. Refer to the source code for details.

    _simAddForceSensorCumulativeForcesAndTorques

    _simAddJointCumulativeForcesOrTorques

    _simClearAdditionalForceAndTorque

    _simDisableDynamicTreeForManipulation

    _simDoEntitiesCollide

    _simGetAdditionalForceAndTorque

    _simGetAllGeometrics

    _simGetBulletCollisionMargin

    _simGetBulletRestitution

    _simGetBulletStickyContact

    _simGetContactCallback

    _simGetContactCallbackCount

    _simGetCumulativeMeshes

    _simGetDamping

    _simGetDistanceBetweenEntitiesIfSmaller

    _simGetDummyLinkType

    _simGetDynamicCollisionMask

    _simGetDynamicForceSensorLocalTransformationPart2

    _simGetDynamicMotorMaxForce

    _simGetDynamicMotorTargetPosition

    _simGetDynamicMotorTargetVelocity

    _simGetDynamicMotorUpperLimitVelocity

    _simGetDynamicsFullRefreshFlag

    _simGetFriction

    _simGetGeometricCount

    _simGetGeomProxyDynamicsFullRefreshFlag

    _simGetGeomProxyFromShape

    _simGetGeomWrapFromGeomProxy

    _simGetGravity

    _simGetHeightfieldData

    _simGetInitialDynamicAngVelocity

    _simGetInitialDynamicVelocity

    _simGetJointBulletParameters

    _simGetJointMode

    _simGetJointOdeParameters

    _simGetJointPosition

    _simGetJointPositionInterval

    _simGetJointType

    _simGetLastParentForLocalGlobalCollidable

    _simGetLocalInertiaFrame

    _simGetMass

    _simGetMotorPid

    _simGetObject

    _simGetObjectChildren

    _simGetObjectCumulativeTransformation

    _simGetObjectFromIndex

    _simGetObjectID

    _simGetObjectListSize

    _simGetObjectLocalTransformation

    _simGetObjectType

    _simGetOdeHeightfieldHeight

    _simGetOdeMaxContactFrictionCFMandERP

    _simGetParentFollowsDynamic

    _simGetParentObject

    _simGetPrincipalMomentOfInertia

    _simGetPurePrimitiveSizes

    _simGetPurePrimitiveType

    _simGetShapeIsStaticAndNotRespondableButDynamicTag

    _simGetStartSleeping

    _simGetTimeDiffInMs

    _simGetTreeDynamicProperty

    _simGetVerticesLocalFrame

    _simGetWasPutToSleepOnce

    _simIsDynamicMotorEnabled

    _simIsDynamicMotorPositionCtrlEnabled

    _simIsDynamicMotorTorqueModulationEnabled

    _simIsForceSensorBroken

    _simIsGeomWrapGeometric

    _simIsJointInHybridOperation

    _simIsShapeDynamicallyRespondable

    _simIsShapeDynamicallyStatic

    _simMakeDynamicAnnouncement

    _simSetDynamicForceSensorLocalTransformationPart2

    _simSetDynamicForceSensorLocalTransformationPart2IsValid

    _simSetDynamicJointLocalTransformationPart2

    _simSetDynamicJointLocalTransformationPart2IsValid

    _simSetDynamicMotorPositionControlTargetPosition

    _simSetDynamicMotorReflectedPositionFromDynamicEngine

    _simSetDynamicObjectFlagForVisualization

    _simSetDynamicsFullRefreshFlag

    _simSetDynamicSimulationIconCode

    _simSetGeomProxyDynamicsFullRefreshFlag

    _simSetInitialDynamicAngVelocity

    _simSetInitialDynamicVelocity

    _simSetJointPosition

    _simSetJointSphericalTransformation

    _simSetObjectCumulativeTransformation

    _simSetObjectLocalTransformation

    _simSetOdeHeightfieldAuxData

    _simSetShapeDynamicVelocity

    _simSetShapeIsStaticAndNotRespondableButDynamicTag

    _simGetIkGroupObject

    _simMpHandleIkGroupObject

    _simGetPureHollowScaling

    _simGetVortexParameters

    _simGetJointCallbackCallOrder

    _simGetNewtonParameters

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  • 原文地址:https://www.cnblogs.com/deciduousmap/p/14160026.html
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