[choreonoid-users 00031] Re: RPM Ports

[Shin'ichiro Nakaoka]

Dear Luis,

> As i far as i remember the only current limitations of Choreonoid are
> related to the vision correct?

Yes.

> Do the following ports are available?

Yes, they should be available.

If you have a promlem in using those ports,
could you check the following souce files?

src/OpenRTMPlugin/VirtuaRobotPortHandler.[h/cpp]
src/OpenRTMPlugin/BridgeConf.[h/cpp]

> And what are the EXTERNAL_FORCE and the CONSTRAINT_FORCE?

EXTERNAL_FORCE is the force that is the sum of the forces applied by the
collisions, extra constrains for making a closed loop links, and the
gravity.

CONSTRAINT_FORCES are the forces of the collisions and the extra
constraints. Each force corresponding to a contact/constraint point is
seperately contained in the array.

If you want to know the details of the implementation, please see
src/Body/ConstraintForceSolver.cpp

Shin