Choreonoid  1.8
Public Member Functions | List of all members
cnoid::ForwardDynamicsABM Class Reference

#include <ForwardDynamicsABM.h>

Inheritance diagram for cnoid::ForwardDynamicsABM:
cnoid::ForwardDynamics

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::ForwardDynamicsABM ( DySubBody subBody)

◆ ~ForwardDynamicsABM()

ForwardDynamicsABM::~ForwardDynamicsABM ( )

Member Function Documentation

◆ calcNextState()

void ForwardDynamicsABM::calcNextState ( )
virtual

◆ initialize()

void ForwardDynamicsABM::initialize ( )
virtual

◆ refreshState()

void ForwardDynamicsABM::refreshState ( )
virtual

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