Struct World 

pub struct World {
    pub model: Model,
    pub state: State,
    pub sensors: Vec<Sensor>,
    pub sensor_history: Vec<Vec<SensorOutput>>,
    pub tendons: Vec<Tendon>,
}

A complete simulation world with sensors and actuators.

Fields

model: Model

The kinematic model.

state: State

Current simulation state.

sensors: Vec<Sensor>

Sensors attached to the world.

sensor_history: Vec<Vec<SensorOutput>>

History of sensor readings (one vec per timestep).

tendons: Vec<Tendon>

Tendons (cable actuators) in the world.

Implementations

impl World

pub fn new(model: Model) -> World

Create a new world from a model.

pub fn with_state(model: Model, state: State) -> World

Create a new world with initial state.

pub fn add_sensor(&mut self, sensor: Sensor)

Add a sensor to the world.

pub fn add_tendon(&mut self, tendon: Tendon)

Add a tendon to the world.

pub fn step<F>(&mut self, step_fn: F)

where F: FnOnce(&Model, &mut State),

Step the simulation forward using a custom step function.

The step_fn should advance the state by one timestep. Records sensor outputs after the step.

pub fn latest_sensor_readings(&self) -> Option<&Vec<SensorOutput>>

Get the most recent sensor readings.

pub fn clear_history(&mut self)

Clear sensor history.

pub fn history_len(&self) -> usize

Get number of timesteps recorded.