jsim.api.StateManager Class Reference

Public Member Functions
synchronized void	reset ()
void	initializeField (FieldConfig config)
synchronized List< FieldElement >	getFieldElements ()
SimRobot	initializeRobot (RobotID id, Pose2d startingPose, Translation2d[] frameVertices)
synchronized SimRobot	getRobot (RobotID id)
Map< RobotID, Pose2d >	getRobotPoses ()
synchronized void	setPhysicsWorld (PhysicsWorld physicsWorld)
synchronized PhysicsWorld	getPhysicsWorld ()
synchronized void	setRobotBody (RobotID id, PhysicsBody robotBody)
synchronized PhysicsBody	getRobotBody (RobotID id)
synchronized void	setPhysicsVelocity (RobotID id, ChassisSpeeds speeds)
synchronized void	registerGamepieceZone (GamepieceZone gamepieceZone)
synchronized void	stepPhysics ()

Static Public Member Functions
static StateManager	getInstance ()

Detailed Description

System Rules:

• Single source of truth for all simulation state.
• Only system allowed to mutate FieldState<T>.
• External APIs are read/write proxies ONLY through defined methods.

Member Function Documentation

getFieldElements()

synchronized List< FieldElement > jsim.api.StateManager.getFieldElements ( )

inline

Returns an immutable view of the current field elements registered in the simulation.

Returns

unmodifiable list of field elements

getInstance()

StateManager jsim.api.StateManager.getInstance ( )

inlinestatic

Gets the singleton instance of the StateManager.

Returns

the StateManager instance.

getPhysicsWorld()

synchronized PhysicsWorld jsim.api.StateManager.getPhysicsWorld ( )

inline

Returns the active physics world used by the simulation layer.

Returns

the current physics world, or null if none is registered

getRobot()

synchronized SimRobot jsim.api.StateManager.getRobot ( RobotID id )

inline

Returns the simulated robot registered for the given driver-station id.

Parameters

id	the robot identifier

Returns

the registered robot, or null if none exists

getRobotBody()

synchronized PhysicsBody jsim.api.StateManager.getRobotBody ( RobotID id )

inline

Returns the physics body associated with the given robot id.

Parameters

id	the robot identifier

Returns

the tracked physics body, or null if none exists

getRobotPoses()

Map< RobotID, Pose2d > jsim.api.StateManager.getRobotPoses ( )

inline

Returns a snapshot of all registered robot poses keyed by robot id.

Returns

immutable map of robot ids to poses

initializeField()

void jsim.api.StateManager.initializeField ( FieldConfig config )

inline

Loads JSON field definition and builds all FieldElements and collision zones.

Parameters

config

The field configuration to initialize.

initializeRobot()

SimRobot jsim.api.StateManager.initializeRobot ( RobotID id, Pose2d startingPose, Translation2d[] frameVertices )

inline

Creates a robot instance, assigns starting pose, and registers it in the simulation.

Parameters

id	The RobotID for the robot.
startingPose	The initial pose of the robot.
frameVertices	The vertices of the robot's frame.

Returns

the initialized SimRobot instance.

registerGamepieceZone()

synchronized void jsim.api.StateManager.registerGamepieceZone ( GamepieceZone gamepieceZone )

inline

Registers a gamepiece zone to be refreshed on each simulation step.

Parameters

gamepieceZone

the zone to register

reset()

synchronized void jsim.api.StateManager.reset ( )

inline

Clears all tracked simulation state and detaches the active physics world.

Primarily used by tests to ensure deterministic, isolated state between runs.

setPhysicsVelocity()

synchronized void jsim.api.StateManager.setPhysicsVelocity ( RobotID id, ChassisSpeeds speeds )

inline

Applies a chassis-speed command to the physics body registered for the given robot id.

Parameters

id	the robot identifier
speeds	the commanded chassis speeds

setPhysicsWorld()

synchronized void jsim.api.StateManager.setPhysicsWorld ( PhysicsWorld physicsWorld )

inline

Stores the active physics world used by the simulation layer.

Parameters

physicsWorld

the physics world to store

setRobotBody()

synchronized void jsim.api.StateManager.setRobotBody ( RobotID id, PhysicsBody robotBody )

inline

Associates a native physics body with a robot id.

Parameters

id	the robot identifier
robotBody	the physics body to store, or null to clear the mapping

stepPhysics()

synchronized void jsim.api.StateManager.stepPhysics ( )

inline

Advances the tracked physics world and refreshes gamepiece zones.

---

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

• src/main/java/jsim/api/StateManager.java