cnoid::DyWorldBase Class Reference

#include <DyWorld.h>

Inheritance diagram for cnoid::DyWorldBase:

Public Member Functions
	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...
virtual void	initialize ()
	initialize this world. This must be called after all bodies are registered. More...
void	setVirtualJointForces ()
virtual void	calcNextState ()
	compute forward dynamics and update current state More...
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)

Constructor & Destructor Documentation

DyWorldBase()

DyWorldBase::DyWorldBase

(

)

~DyWorldBase()

DyWorldBase::~DyWorldBase ( )

virtual

Member Function Documentation

addBody()

int DyWorldBase::addBody

(

DyBody *

body

)

This function adds a body to the world.

Returns

Index of the body in the world

Note

This must be called before initialize() is called.

addExtraJoint()

void cnoid::DyWorldBase::addExtraJoint ( ExtraJoint &  extraJoint )

inline

bodies()

const std::vector<DyBodyPtr>& cnoid::DyWorldBase::bodies ( )

inline

body() [1/2]

DyBody * DyWorldBase::body

(

const std::string &

name

)

const

body() [2/2]

DyBody* cnoid::DyWorldBase::body ( int  index )

inline

calcNextState()

void DyWorldBase::calcNextState ( )

virtual

compute forward dynamics and update current state

Reimplemented in cnoid::DyWorld< TConstraintForceSolver >, and cnoid::DyWorld< cnoid::ConstraintForceSolver >.

clearBodies()

void DyWorldBase::clearBodies

(

)

clearCollisionPairs()

void DyWorldBase::clearCollisionPairs

(

)

clearExtraJoints()

void cnoid::DyWorldBase::clearExtraJoints ( )

inline

currentTime()

double cnoid::DyWorldBase::currentTime ( void  ) const

inline

enableSensors()

void DyWorldBase::enableSensors

(

bool

on

)

enable/disable sensor simulation

Parameters

on	true to enable, false to disable

Note

This must be called before initialize() is called.

extraJoints()

std::vector<ExtraJoint>& cnoid::DyWorldBase::extraJoints ( )

inline

getIndexOfLinkPairs()

std::pair< int, bool > DyWorldBase::getIndexOfLinkPairs	(	DyLink *	link1,
		DyLink *	link2
	)

get index of link pairs

Parameters

link1	link1
link2	link2

Returns

pair of index and flag. The flag is true if the pair was already registered, false othewise.

gravityAcceleration()

const Vector3& cnoid::DyWorldBase::gravityAcceleration ( ) const

inline

hasHighGainDynamics()

bool cnoid::DyWorldBase::hasHighGainDynamics ( ) const

inline

initialize()

void DyWorldBase::initialize ( )

virtual

initialize this world. This must be called after all bodies are registered.

Reimplemented in cnoid::DyWorld< TConstraintForceSolver >, and cnoid::DyWorld< cnoid::ConstraintForceSolver >.

numBodies()

int cnoid::DyWorldBase::numBodies ( ) const

inline

numSubBodies()

int cnoid::DyWorldBase::numSubBodies ( ) const

inline

This function returns the number of bodies used in the internal calculation in this world.

Note

The body that has non-root free-joints are decomposed into internal sub bodies

refreshState()

void DyWorldBase::refreshState

(

)

setCurrentTime()

void DyWorldBase::setCurrentTime

(

double

tm

)

setEulerMethod()

void DyWorldBase::setEulerMethod

(

)

Use the euler method for integration.

setGravityAcceleration()

void DyWorldBase::setGravityAcceleration

(

const Vector3 &

g

)

Parameters

g	gravity acceleration[m/s^2]

setOldAccelSensorCalcMode()

void DyWorldBase::setOldAccelSensorCalcMode

(

bool

on

)

setRungeKuttaMethod()

void DyWorldBase::setRungeKuttaMethod

(

)

Use the runge-kutta method for integration.

setTimeStep()

void DyWorldBase::setTimeStep

(

double

dt

)

setVirtualJointForces()

void DyWorldBase::setVirtualJointForces

(

)

subBodies()

const std::vector<DySubBodyPtr>& cnoid::DyWorldBase::subBodies ( )

inline

subBody()

DySubBody* cnoid::DyWorldBase::subBody ( int  index )

inline

timeStep()

double cnoid::DyWorldBase::timeStep ( void  ) const

inline

---

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

• DyWorld.h
• DyWorld.cpp