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Public Member Functions | |
| WorldState (Scene *sce) | |
| WorldState (WorldState *WS) | |
| WorldState (Json::Value root, Scene *sce) | |
| void | load () |
| void | loadConf (confPtr_t q) |
| void | saveAll () |
| void | saveRobot (Robot *rob) |
| void | saveConf (confPtr_t q) |
| bool | replaceConf (confPtr_t q) |
| void | clear () |
| bool | isEqualTo (WorldState *WS) |
| void | addAttachement (Robot *rob, Robot *obj) |
| void | addAttachement (Robot *rob, Robot *obj, gpGrasp gr, int armId) |
| void | addAttachement (Attachement a) |
| std::vector< Attachement > | getAttachements () |
| void | setAttachements (std::vector< Attachement > va) |
| Attachement | getAttachement (Robot *rob, Robot *obj) |
| void | clearAttachement () |
| void | removeAttachements (Robot *rob, Robot *obj) |
| bool | hasAttachement (Robot *rob) |
| bool | hasAttachement (Robot *rob, Robot *obj) |
| void | saveCurrentAttachement () |
| void | resetCurrentAttachements () |
| void | loadAttachements () |
| Attachement | getCurrentAttachment () |
| std::vector< SurfaceAttachement > | getSurfaceAttachements () |
| void | setSurfaceAttachements (std::vector< SurfaceAttachement > va) |
| void | loadSurfaceAttachements () |
| void | clearSurfaceAttachements () |
| std::vector< confPtr_t > | getRobotConfs () |
| confPtr_t | getRobotConf (Robot *rob) |
| int | getId () |
| Scene * | getScene () |
| std::vector< Fact > | getFacts () |
| std::vector< Fact > | getAllFacts () |
| Fact | getThisFact (Fact FI) |
| TaskSolution * | getTSThatEndWithThisWS () |
| std::pair< int, int > | getTSIndexThatEndWithThisWS () |
| bool | setTSThatEndWithThisWS (TaskSolution *TS, bool forceSetting=true) |
| TaskConstraints * | getTCForNextTask () |
| void | setTCForNextTask (TaskConstraints *tc) |
| void | clearTCForNextTask () |
| void | saveToDisk (FILE *file, std::string text) |
| void | initMightabilities () |
| MightabilitiesGrid * | getMightabilities () |
| double | distanceTo (WorldState *ws) |
| void | updateRobotVirtualObj (Robot *r) |
| gpGrasp | getGraspFromId (int graspId, Robot *object, int armId, Robot *rob) |
| Json::Value | toJson () |
| void | fromJson (Json::Value root) |
1.8.6