#include <DyWorld.h>
Inheritance diagram for cnoid::DyWorld< TConstraintForceSolver >:
Public Member Functions | |
| DyWorld () | |
| virtual void | initialize () |
| initialize this world. This must be called after all bodies are registered. More... | |
| virtual void | calcNextState () |
| compute forward dynamics and update current state More... | |
 Public Member Functions inherited from cnoid::DyWorldBase | |
| DyWorldBase () | |
| virtual | ~DyWorldBase () |
| int | numBodies () const |
| DyBody * | body (int index) |
| DyBody * | body (const std::string &name) const |
| const std::vector< DyBodyPtr > & | bodies () |
| int | numSubBodies () const |
| This function returns the number of bodies used in the internal calculation in this world. More... | |
| DySubBody * | subBody (int index) |
| const std::vector< DySubBodyPtr > & | subBodies () |
| int | addBody (DyBody *body) |
| This function adds a body to the world. More... | |
| bool | hasHighGainDynamics () const |
| void | clearBodies () |
| void | clearCollisionPairs () |
| void | setTimeStep (double dt) |
| double | timeStep (void) const |
| void | setCurrentTime (double tm) |
| double | currentTime (void) const |
| void | setGravityAcceleration (const Vector3 &g) |
| const Vector3 & | gravityAcceleration () const |
| void | enableSensors (bool on) |
| enable/disable sensor simulation More... | |
| void | setOldAccelSensorCalcMode (bool on) |
| void | setEulerMethod () |
| Use the euler method for integration. More... | |
| void | setRungeKuttaMethod () |
| Use the runge-kutta method for integration. More... | |
| void | setVirtualJointForces () |
| void | refreshState () |
| std::pair< int, bool > | getIndexOfLinkPairs (DyLink *link1, DyLink *link2) |
| get index of link pairs More... | |
| std::vector< ExtraJoint > & | extraJoints () |
| void | clearExtraJoints () |
| void | addExtraJoint (ExtraJoint &extraJoint) |
Public Attributes | |
| TConstraintForceSolver | constraintForceSolver |
Constructor & Destructor Documentation
◆ DyWorld()
template<class TConstraintForceSolver >
|
inline |
Member Function Documentation
◆ calcNextState()
template<class TConstraintForceSolver >
|
inlinevirtual |
compute forward dynamics and update current state
Reimplemented from cnoid::DyWorldBase.
◆ initialize()
template<class TConstraintForceSolver >
|
inlinevirtual |
initialize this world. This must be called after all bodies are registered.
Reimplemented from cnoid::DyWorldBase.
Member Data Documentation
◆ constraintForceSolver
template<class TConstraintForceSolver >
| TConstraintForceSolver cnoid::DyWorld< TConstraintForceSolver >::constraintForceSolver |
The documentation for this class was generated from the following file:
