Choreonoid  1.8
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cnoid::DyLink Class Reference

#include <DyBody.h>

Inheritance diagram for cnoid::DyLink:
cnoid::Link cnoid::ClonableReferenced cnoid::Referenced

Public Types

typedef Link::ContactPoint ConstraintForce
 
typedef std::vector< ContactPointConstraintForceArray
 

Public Member Functions

EIGEN_MAKE_ALIGNED_OPERATOR_NEW DyLink ()
 
 DyLink (const DyLink &org)
 
 DyLink (const Link &link)
 
virtual void initializeState () override
 
DySubBodysubBody ()
 
bool isSubBodyRoot () const
 
DyBodybody ()
 
DyLinkparent () const
 
DyLinksibling () const
 
DyLinkchild () const
 
const Vector3vo () const
 
Vector3vo ()
 
const Vector3dvo () const
 
Vector3dvo ()
 
const Vector3sw () const
 
Vector3sw ()
 
const Vector3sv () const
 
Vector3sv ()
 
const Vector3cv () const
 
Vector3cv ()
 
const Vector3cw () const
 
Vector3cw ()
 
const Matrix3Iww () const
 
Matrix3Iww ()
 
const Matrix3Iwv () const
 
Matrix3Iwv ()
 
const Matrix3Ivv () const
 
Matrix3Ivv ()
 
const Vector3pf () const
 
Vector3pf ()
 
const Vector3ptau () const
 
Vector3ptau ()
 
const Vector3hhv () const
 
Vector3hhv ()
 
const Vector3hhw () const
 
Vector3hhw ()
 
double uu () const
 
double & uu ()
 
double dd () const
 
double & dd ()
 
std::vector< ContactPoint > & constraintForces ()
 
const std::vector< ContactPoint > & constraintForces () const
 
virtual void prependChild (Link *link) override
 
virtual void appendChild (Link *link) override
 
- Public Member Functions inherited from cnoid::Referenced
virtual ~Referenced ()
 

Protected Member Functions

virtual ReferenceddoClone (CloneMap *cloneMap) const override
 
- Protected Member Functions inherited from cnoid::Referenced
 Referenced ()
 
 Referenced (const Referenced &)
 
int refCount () const
 

Friends

class DySubBody
 
class ForwardDynamicsCBM
 
class ConstraintForceSolver
 

Additional Inherited Members

Detailed Description

A Link class used for forward dynamics based on the articulated body method (ABM)

Member Typedef Documentation

◆ ConstraintForce

◆ ConstraintForceArray

Constructor & Destructor Documentation

◆ DyLink() [1/3]

DyLink::DyLink ( )

◆ DyLink() [2/3]

DyLink::DyLink ( const DyLink org)

◆ DyLink() [3/3]

DyLink::DyLink ( const Link link)

Member Function Documentation

◆ appendChild()

void DyLink::appendChild ( Link link)
overridevirtual

Reimplemented from cnoid::Link.

◆ body()

DyBody * cnoid::DyLink::body ( )
inline

◆ child()

DyLink* cnoid::DyLink::child ( ) const
inline

◆ constraintForces() [1/2]

std::vector<ContactPoint>& cnoid::DyLink::constraintForces ( )
inline

◆ constraintForces() [2/2]

const std::vector<ContactPoint>& cnoid::DyLink::constraintForces ( ) const
inline

◆ cv() [1/2]

Vector3& cnoid::DyLink::cv ( )
inline

◆ cv() [2/2]

const Vector3& cnoid::DyLink::cv ( ) const
inline

◆ cw() [1/2]

Vector3& cnoid::DyLink::cw ( )
inline

◆ cw() [2/2]

const Vector3& cnoid::DyLink::cw ( ) const
inline

◆ dd() [1/2]

double& cnoid::DyLink::dd ( )
inline

◆ dd() [2/2]

double cnoid::DyLink::dd ( ) const
inline

◆ doClone()

Referenced * DyLink::doClone ( CloneMap cloneMap) const
overrideprotectedvirtual

◆ dvo() [1/2]

Vector3& cnoid::DyLink::dvo ( )
inline

◆ dvo() [2/2]

const Vector3& cnoid::DyLink::dvo ( ) const
inline

◆ hhv() [1/2]

Vector3& cnoid::DyLink::hhv ( )
inline

◆ hhv() [2/2]

const Vector3& cnoid::DyLink::hhv ( ) const
inline

◆ hhw() [1/2]

Vector3& cnoid::DyLink::hhw ( )
inline

◆ hhw() [2/2]

const Vector3& cnoid::DyLink::hhw ( ) const
inline

◆ initializeState()

void DyLink::initializeState ( )
overridevirtual

Reimplemented from cnoid::Link.

◆ isSubBodyRoot()

bool cnoid::DyLink::isSubBodyRoot ( ) const
inline

◆ Ivv() [1/2]

Matrix3& cnoid::DyLink::Ivv ( )
inline

◆ Ivv() [2/2]

const Matrix3& cnoid::DyLink::Ivv ( ) const
inline

◆ Iwv() [1/2]

Matrix3& cnoid::DyLink::Iwv ( )
inline

◆ Iwv() [2/2]

const Matrix3& cnoid::DyLink::Iwv ( ) const
inline

◆ Iww() [1/2]

Matrix3& cnoid::DyLink::Iww ( )
inline

◆ Iww() [2/2]

const Matrix3& cnoid::DyLink::Iww ( ) const
inline

◆ parent()

DyLink* cnoid::DyLink::parent ( ) const
inline

◆ pf() [1/2]

Vector3& cnoid::DyLink::pf ( )
inline

◆ pf() [2/2]

const Vector3& cnoid::DyLink::pf ( ) const
inline

◆ prependChild()

void DyLink::prependChild ( Link link)
overridevirtual

Reimplemented from cnoid::Link.

◆ ptau() [1/2]

Vector3& cnoid::DyLink::ptau ( )
inline

◆ ptau() [2/2]

const Vector3& cnoid::DyLink::ptau ( ) const
inline

◆ sibling()

DyLink* cnoid::DyLink::sibling ( ) const
inline

◆ subBody()

DySubBody* cnoid::DyLink::subBody ( )
inline

◆ sv() [1/2]

Vector3& cnoid::DyLink::sv ( )
inline

◆ sv() [2/2]

const Vector3& cnoid::DyLink::sv ( ) const
inline

◆ sw() [1/2]

Vector3& cnoid::DyLink::sw ( )
inline

◆ sw() [2/2]

const Vector3& cnoid::DyLink::sw ( ) const
inline

◆ uu() [1/2]

double& cnoid::DyLink::uu ( )
inline

◆ uu() [2/2]

double cnoid::DyLink::uu ( ) const
inline

◆ vo() [1/2]

Vector3& cnoid::DyLink::vo ( )
inline

◆ vo() [2/2]

const Vector3& cnoid::DyLink::vo ( ) const
inline

Friends And Related Function Documentation

◆ ConstraintForceSolver

friend class ConstraintForceSolver
friend

◆ DySubBody

friend class DySubBody
friend

◆ ForwardDynamicsCBM

friend class ForwardDynamicsCBM
friend

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