Inheritance diagram for cnoid::ForwardDynamicsABM:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	ForwardDynamicsABM (DySubBody *subBody)

	~ForwardDynamicsABM ()

virtual void	initialize ()

virtual void	calcNextState ()

virtual void	refreshState ()

Public Member Functions inherited from cnoid::ForwardDynamics
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	ForwardDynamics (DySubBody *subBody)

virtual	~ForwardDynamics ()

void	setGravityAcceleration (const Vector3 &g)

void	setEulerMethod ()

void	setRungeKuttaMethod ()

void	setTimeStep (double timeStep)

void	enableSensors (bool on)

void	setOldAccelSensorCalcMode (bool on)

Additional Inherited Members
Protected Types inherited from cnoid::ForwardDynamics
enum	{ EULER_METHOD, RUNGEKUTTA_METHOD }

Protected Member Functions inherited from cnoid::ForwardDynamics
virtual void	initializeSensors ()

Static Protected Member Functions inherited from cnoid::ForwardDynamics
static void	SE3exp (Isometry3 &out_T, const Isometry3 &T0, const Vector3 &w, const Vector3 &vo, double dt)
	update position/orientation using spatial velocity More...

Protected Attributes inherited from cnoid::ForwardDynamics
DySubBodyPtr	subBody

Vector3	g

double	timeStep

bool	sensorsEnabled

BasicSensorSimulationHelper	sensorHelper

enum cnoid::ForwardDynamics:: { ... }	integrationMode

Detailed Description

Forward dynamics calculation using Featherstone's Articulated Body Method (ABM)

Constructor & Destructor Documentation

ForwardDynamicsABM::ForwardDynamicsABM ( DySubBody * subBody )

ForwardDynamicsABM::~ForwardDynamicsABM ( )

void ForwardDynamicsABM::calcNextState ( )

virtual

void ForwardDynamicsABM::initialize ( )

virtual

void ForwardDynamicsABM::refreshState ( )

virtual

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