jsim.nt.WorldPosePublisher Class Reference

Inheritance diagram for jsim.nt.WorldPosePublisher:

Public Member Functions
	WorldPosePublisher (long worldHandle, int maxBodies)
	WorldPosePublisher (long worldHandle, int maxBodies, NetworkTableInstance ntInstance, String baseTopic)
int	publishFrame ()
void	close ()

Detailed Description

Publishes JSim body state to NetworkTables in AdvantageScope-friendly formats.

Publishes both:

• Structured Pose3d array: /jsim/world/bodyPoses
• Flat full state [x,y,z,qw,qx,qy,qz,vx,vy,vz,wx,wy,wz...]: /jsim/world/bodyState13Flat
• Flat pose buffer [x,y,z,qw,qx,qy,qz...]: /jsim/world/bodyPose7Flat
• Flat velocity buffer [vx,vy,vz,wx,wy,wz...]: /jsim/world/bodyVelocity6Flat

Constructor & Destructor Documentation

WorldPosePublisher() [1/2]

jsim.nt.WorldPosePublisher.WorldPosePublisher ( long worldHandle, int maxBodies )

inline

Creates a new world publisher under /jsim/world.

Parameters

worldHandle	native world handle
maxBodies	maximum number of bodies to export per frame

WorldPosePublisher() [2/2]

jsim.nt.WorldPosePublisher.WorldPosePublisher ( long worldHandle, int maxBodies, NetworkTableInstance ntInstance, String baseTopic )

inline

Creates a new world publisher.

Parameters

worldHandle	native world handle
maxBodies	maximum number of bodies to export per frame
ntInstance	network table instance
baseTopic	base topic path (e.g. /jsim/world)

Member Function Documentation

close()

void jsim.nt.WorldPosePublisher.close ( )

inline

publishFrame()

int jsim.nt.WorldPosePublisher.publishFrame ( )

inline

Pulls world state from JNI and publishes one frame.

Returns

number of body entries published, or negative on native error

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

• src/main/java/jsim/nt/WorldPosePublisher.java