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Refactor GazeboSimulator class #163

Merged
merged 7 commits into from
Mar 31, 2020
Merged

Refactor GazeboSimulator class #163

merged 7 commits into from
Mar 31, 2020

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diegoferigo
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As discussed in #158, we only support the deterministic mode of the simulator. The refactored GazeboSimulator class has some logic that I used to test the non-deterministic mode that could be used in the future if we plan to put more effort to implement it.

In general, the assumptions are:

  • Non-deterministic mode is not supported (that means iterations=0)
  • World files loaded with GazeboSimulator::loadSdfWorld can contain only one world

@diegoferigo diegoferigo self-assigned this Mar 29, 2020
@diegoferigo diegoferigo mentioned this pull request Mar 29, 2020
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@diegoferigo diegoferigo force-pushed the refactor/new_gazebo_simulator branch 2 times, most recently from 2ef6f6e to 497fa96 Compare March 31, 2020 10:04
@diegoferigo diegoferigo marked this pull request as ready for review March 31, 2020 10:13
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Ready to be reviewed @traversaro @raffaello-camoriano @paolo-viceconte

@diegoferigo diegoferigo force-pushed the refactor/new_gazebo_simulator branch from 497fa96 to 4ac1c19 Compare March 31, 2020 11:32
traversaro
traversaro approved these changes Mar 31, 2020
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Minor typo

cpp/scenario/gazebo/src/GazeboSimulator.cpp Outdated

// Setup signals callbacks.
// It must be done after the creation of the simulator since
// we oveeride override their callbacks.
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Suggested change
// we oveeride override their callbacks.
// we override their callbacks.

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@diegoferigo diegoferigo Mar 31, 2020 •
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Thanks! Fixed in https:/robotology/gym-ignition/compare/4ac1c19cfc61c75681c181b79d4790b7712e5de1..7c80ee690a16c8e5bf81fbc3f1f2689253f76e14

@diegoferigo diegoferigo force-pushed the refactor/new_gazebo_simulator branch from 4ac1c19 to 8eb5705 Compare March 31, 2020 14:16
@diegoferigo diegoferigo force-pushed the refactor/new_gazebo_simulator branch from 8eb5705 to 7c80ee6 Compare March 31, 2020 14:21
@diegoferigo diegoferigo merged commit 4f5052f into robotology:refactoring Mar 31, 2020
@diegoferigo diegoferigo deleted the refactor/new_gazebo_simulator branch March 31, 2020 14:24
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@traversaro traversaro traversaro approved these changes

@paolo-viceconte paolo-viceconte Awaiting requested review from paolo-viceconte

@raffaello-camoriano raffaello-camoriano Awaiting requested review from raffaello-camoriano

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@diegoferigo diegoferigo

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