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Deprecated entity state() in favor of state_belief() and state_truth() #596

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Deprecated entity state() in favor of state_belief() and state_truth() #596

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e17cc55
Deprecated entity state()
Sep 18, 2024
2e65e39
Merge branch 'master' into entity-state-update
Oct 28, 2024
3777041
Updates to file formatting
Nov 18, 2024
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124 changes: 62 additions & 62 deletions include/scrimmage/entity/Entity.h
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Original file line number Diff line number Diff line change
Expand Up @@ -33,30 +33,29 @@
#ifndef INCLUDE_SCRIMMAGE_ENTITY_ENTITY_H_
#define INCLUDE_SCRIMMAGE_ENTITY_ENTITY_H_

#include <scrimmage/fwd_decl.h>
#include <scrimmage/common/ID.h>
#include <scrimmage/entity/Contact.h>
#include <scrimmage/fwd_decl.h>
#include <scrimmage/proto/Visual.pb.h>
#include <scrimmage/pubsub/Message.h>

#include <boost/optional.hpp>
#include <functional>
#include <list>
#include <map>
#include <memory>
#include <set>
#include <string>
#include <unordered_map>
#include <list>
#include <vector>
#include <string>
#include <functional>
#include <memory>

#include <boost/optional.hpp>

namespace scrimmage_proto {
using ContactVisualPtr = std::shared_ptr<ContactVisual>;
}

namespace scrimmage {

using Service = std::function<bool (scrimmage::MessageBasePtr, scrimmage::MessageBasePtr&)>;
using Service = std::function<bool(scrimmage::MessageBasePtr, scrimmage::MessageBasePtr&)>;

typedef std::map<std::string, std::map<std::string, std::string>> AttributeMap;

Expand All @@ -65,31 +64,22 @@ class Entity : public std::enable_shared_from_this<Entity> {
/*! \name utilities */
///@{

bool init(AttributeMap &overrides,
std::map<std::string, std::string> &info,
std::shared_ptr<std::unordered_map<int, int>> &id_to_team_map,
std::shared_ptr<std::unordered_map<int, EntityPtr>> &id_to_ent_map,
ContactMapPtr &contacts,
MissionParsePtr mp,
const std::shared_ptr<GeographicLib::LocalCartesian> &proj,
int id, int ent_desc_id,
PluginManagerPtr plugin_manager,
FileSearchPtr &file_search,
RTreePtr &rtree,
PubSubPtr &pubsub,
PrintPtr &printer,
TimePtr &time,
const ParameterServerPtr &param_server,
const GlobalServicePtr &global_services,
const std::set<std::string> &plugin_tags,
bool init(AttributeMap& overrides, std::map<std::string, std::string>& info,
std::shared_ptr<std::unordered_map<int, int>>& id_to_team_map,
std::shared_ptr<std::unordered_map<int, EntityPtr>>& id_to_ent_map,
ContactMapPtr& contacts, MissionParsePtr mp,
const std::shared_ptr<GeographicLib::LocalCartesian>& proj, int id, int ent_desc_id,
PluginManagerPtr plugin_manager, FileSearchPtr& file_search, RTreePtr& rtree,
PubSubPtr& pubsub, PrintPtr& printer, TimePtr& time,
const ParameterServerPtr& param_server, const GlobalServicePtr& global_services,
const std::set<std::string>& plugin_tags,
std::function<void(std::map<std::string, std::string>&)> param_override_func,
const int& debug_level = 0);

void print_plugins(std::ostream &out) const;
void print_plugins(std::ostream& out) const;

bool parse_visual(std::map<std::string, std::string> &info,
MissionParsePtr mp,
std::map<std::string, std::string> &overrides);
bool parse_visual(std::map<std::string, std::string>& info, MissionParsePtr mp,
std::map<std::string, std::string>& overrides);

void close(double t);
void collision();
Expand All @@ -100,15 +90,15 @@ class Entity : public std::enable_shared_from_this<Entity> {
void setup_desired_state();
bool ready();

bool call_service(MessageBasePtr req, MessageBasePtr &res, const std::string &service_name);
bool call_service(MessageBasePtr req, MessageBasePtr& res, const std::string& service_name);

bool call_service(MessageBasePtr &res, const std::string &service_name) {
bool call_service(MessageBasePtr& res, const std::string& service_name) {
return call_service(std::make_shared<MessageBase>(), res, service_name);
}

template <class T = MessageBasePtr,
class = typename std::enable_if<!std::is_same<T, MessageBasePtr>::value, void>::type>
bool call_service(MessageBasePtr req, T &res, const std::string &service_name) {
bool call_service(MessageBasePtr req, T& res, const std::string& service_name) {
MessageBasePtr res_base;
if (call_service(req, res_base, service_name)) {
res = std::dynamic_pointer_cast<typename T::element_type>(res_base);
Expand All @@ -125,27 +115,32 @@ class Entity : public std::enable_shared_from_this<Entity> {

template <class T = MessageBasePtr,
class = typename std::enable_if<!std::is_same<T, MessageBasePtr>::value, void>::type>
bool call_service(T &res, const std::string &service_name) {
bool call_service(T& res, const std::string& service_name) {
return call_service(std::make_shared<MessageBase>(), res, service_name);
}
///@}

/*! \name getters/setters */
///@{
StatePtr &state();
StatePtr &state_truth();
std::vector<AutonomyPtr> &autonomies();
MotionModelPtr &motion();
std::vector<ControllerPtr> &controllers();
[[deprecated("Use state_belief() or state_truth() to query state information instead")]]
StatePtr& state();

void set_id(ID &id);
ID &id();
void set_state_belief(const StatePtr& other);
void set_state_belief(const State& other);
const std::shared_ptr<const State> state_belief() const;
StatePtr& state_truth();
std::vector<AutonomyPtr>& autonomies();
MotionModelPtr& motion();
std::vector<ControllerPtr>& controllers();

void set_id(ID& id);
ID& id();

void set_health_points(int health_points);
int health_points();

std::shared_ptr<GeographicLib::LocalCartesian> projection();
void set_projection(const std::shared_ptr<GeographicLib::LocalCartesian> &proj);
void set_projection(const std::shared_ptr<GeographicLib::LocalCartesian>& proj);

void set_mp(MissionParsePtr mp);
MissionParsePtr mp();
Expand All @@ -158,48 +153,54 @@ class Entity : public std::enable_shared_from_this<Entity> {
void set_visual_changed(bool visual_changed);
bool visual_changed();

scrimmage_proto::ContactVisualPtr &contact_visual();
scrimmage_proto::ContactVisualPtr& contact_visual();

std::unordered_map<std::string, SensorPtr> &sensors();
std::unordered_map<std::string, SensorPtr> sensors(const std::string &sensor_name);
SensorPtr sensor(const std::string &sensor_name);
std::unordered_map<std::string, SensorPtr>& sensors();
std::unordered_map<std::string, SensorPtr> sensors(const std::string& sensor_name);
SensorPtr sensor(const std::string& sensor_name);

// Enables creating services at the entity level
std::unordered_map<std::string, Service> &services();
std::unordered_map<std::string, Service>& services();
// Enables creating services at the global level (especially for entity interactions, etc.)
std::unordered_map<std::string, Service> &global_services();
std::unordered_map<std::string, Service>& global_services();
// Enables setting these for entity interactions
void set_global_services(const GlobalServicePtr &global_services);
void set_global_services(const GlobalServicePtr& global_services);

std::unordered_map<std::string, MessageBasePtr> &properties();
std::unordered_map<std::string, MessageBasePtr>& properties();

void set_active(bool active);
bool active();

ContactMapPtr &contacts() { return contacts_; }
RTreePtr &rtree() { return rtree_; }
ContactMapPtr& contacts() {
return contacts_;
}
RTreePtr& rtree() {
return rtree_;
}

PluginManagerPtr & plugin_manager() {
PluginManagerPtr& plugin_manager() {
return plugin_manager_;
}

FileSearchPtr & file_search() {
FileSearchPtr& file_search() {
return file_search_;
}

PubSubPtr & pubsub() {
PubSubPtr& pubsub() {
return pubsub_;
}

PrintPtr & printer() {
PrintPtr& printer() {
return printer_;
}

const ParameterServerPtr& param_server() {
return param_server_;
}

double radius() { return radius_; }
double radius() {
return radius_;
}
void set_time_ptr(TimePtr t);
void set_printer(PrintPtr printer);

Expand All @@ -208,8 +209,7 @@ class Entity : public std::enable_shared_from_this<Entity> {
protected:
ID id_;

scrimmage_proto::ContactVisualPtr visual_ =
std::make_shared<scrimmage_proto::ContactVisual>();
scrimmage_proto::ContactVisualPtr visual_ = std::make_shared<scrimmage_proto::ContactVisual>();

std::vector<ControllerPtr> controllers_;
MotionModelPtr motion_model_;
Expand All @@ -226,7 +226,7 @@ class Entity : public std::enable_shared_from_this<Entity> {

RandomPtr random_;

StatePtr state_;
StatePtr state_belief_;
StatePtr state_truth_;
std::unordered_map<std::string, MessageBasePtr> properties_;
std::unordered_map<std::string, SensorPtr> sensors_;
Expand All @@ -240,7 +240,7 @@ class Entity : public std::enable_shared_from_this<Entity> {

double radius_ = 1;

void print(const std::string &msg);
void print(const std::string& msg);
PluginManagerPtr plugin_manager_;
FileSearchPtr file_search_;
PubSubPtr pubsub_;
Expand All @@ -251,5 +251,5 @@ class Entity : public std::enable_shared_from_this<Entity> {
};

using EntityPtr = std::shared_ptr<Entity>;
} // namespace scrimmage
#endif // INCLUDE_SCRIMMAGE_ENTITY_ENTITY_H_
} // namespace scrimmage
#endif // INCLUDE_SCRIMMAGE_ENTITY_ENTITY_H_
1 change: 1 addition & 0 deletions include/scrimmage/math/State.h
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Original file line number Diff line number Diff line change
Expand Up @@ -48,6 +48,7 @@ class State {
State();
State(Eigen::Vector3d _pos, Eigen::Vector3d _vel,
Eigen::Vector3d _ang_vel, Quaternion _quat);
State(const State& other);

virtual ~State();

Expand Down
2 changes: 1 addition & 1 deletion python/scrimmage/bindings_src/src/py_openai_env.cpp
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Expand Up @@ -237,7 +237,7 @@ void ScrimmageOpenAIEnv::scrimmage_memory_cleanup() {
e->motion() = nullptr;
e->controllers().clear();
e->set_mp(nullptr);
e->state() = nullptr;
e->state_truth() = nullptr;
e->contacts() = nullptr;
e->plugin_manager() = nullptr;
e->file_search() = nullptr;
Expand Down
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