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Multithread support #15

Merged
merged 11 commits into from
Apr 17, 2019
Merged

Multithread support #15

merged 11 commits into from
Apr 17, 2019

Commits on Apr 15, 2019

  1. New EnvironmentCallbacksSingleton

    This singleton collects the callbacks used for all the agents. It is the first step toward the support of multiple agents (each of them associated to one of these callbacks) acting on independent environments.
    diegoferigo committed Apr 15, 2019
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  2. IgnitionRobot is now a class and not a plugin

    Ignition plugins that need a gympp::Robot pointer will contain an IgnitionRobot object and they configure it with their sdf configuration.
    diegoferigo committed Apr 15, 2019
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  3. IgnitionEnvironment gathers the env callbacks from the singleton

    The callbacks are registered by the plugins during their Configure step.
    
    Temporarily, the declaration of the gympp plugin is done in the sdf. As soon as robot and environment will be split, IgnitionEnvironment will handle that again.
    diegoferigo committed Apr 15, 2019
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  5. Fixed methods call order in GymFactory

    Now setupGazeboWorld has to ben called before setupIgnitionPlugin
    diegoferigo committed Apr 15, 2019
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Commits on Apr 16, 2019

  1. Get env callbacks from the singleton and split robot and world

    This commit:
    
    - Get the EnvironmentCallbacks pointer from the singleton. Plugins autoregister themselves during their Configure step.
    - Split robot and world. They are stored in two different files and not anymore merged by sdformat. This allows parsing the model sdf and automatically get the models. The plugin is then attached to the model element, and this permits to the plugin to correctly initialize the gympp::Robot object.
    - The plugin is loaded again from cpp instead of sdf.
    - The pose of the model will be handled in another PR.
    diegoferigo committed Apr 16, 2019
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