Classes | Public Types | Public Member Functions | Public Attributes | Private Member Functions | Private Attributes | List of all members
ODE_World Class Reference

#include <ODE_World.h>

Inheritance diagram for ODE_World:
Inheritance graph
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Classes

struct  LinkPair
 

Public Types

typedef std::vector< LinkPairLinkPairArray
 

Public Member Functions

void addBody (OpenHRP::BodyInfo_ptr body, const char *name)
 add body to this world More...
 
void addCollisionPair (OpenHRP::LinkPair &linkPair)
 
void calcNextState (OpenHRP::CollisionSequence &corbaCollisionSequence)
 compute forward dynamics and update current state More...
 
void clearExternalForces ()
 
void getGravityAcceleration (dVector3 &gravity)
 get gravity acceleration More...
 
dJointGroupID getJointGroupID ()
 
dSpaceID getSpaceID ()
 
dWorldID getWorldID ()
 
void initialize ()
 initialize this world. This must be called after all bodies are registered. More...
 
 ODE_World ()
 
void setGravityAcceleration (const dVector3 &gravity)
 set gravity acceleration More...
 
void useInternalCollisionDetector (bool use)
 
 ~ODE_World ()
 
- Public Member Functions inherited from hrp::WorldBase
int addBody (BodyPtr body)
 add body to this world More...
 
BodyPtr body (const std::string &name)
 get body by name More...
 
BodyPtr body (int index)
 get body by index More...
 
int bodyIndex (const std::string &name)
 get index of body by name More...
 
virtual void calcNextState ()
 compute forward dynamics and update current state More...
 
void clearBodies ()
 clear bodies in this world More...
 
void clearCollisionPairs ()
 clear collision pairs More...
 
double currentTime (void) const
 get current time More...
 
void enableSensors (bool on)
 enable/disable sensor simulation More...
 
ForwardDynamicsPtr forwardDynamics (int index)
 get forward dynamics computation method for body More...
 
const Vector3getGravityAcceleration ()
 get gravity acceleration More...
 
std::pair< int, bool > getIndexOfLinkPairs (Link *link1, Link *link2)
 get index of link pairs More...
 
unsigned int numBodies ()
 get the number of bodies in this world More...
 
void setCurrentTime (double tm)
 set current time More...
 
void setEulerMethod ()
 choose euler method for integration More...
 
void setGravityAcceleration (const Vector3 &g)
 set gravity acceleration More...
 
void setRungeKuttaMethod ()
 choose runge-kutta method for integration More...
 
void setTimeStep (double dt)
 set time step More...
 
double timeStep (void) const
 get time step More...
 
 WorldBase ()
 
virtual ~WorldBase ()
 

Public Attributes

OpenHRP::CollisionSequence collisions
 
LinkPairArray linkPairs
 

Private Member Functions

void updateSensors ()
 

Private Attributes

dJointGroupID contactgroupId
 
dSpaceID spaceId
 
bool useInternalCollisionDetector_
 
dWorldID worldId
 

Additional Inherited Members

- Protected Attributes inherited from hrp::WorldBase
std::vector< BodyInfobodyInfoArray
 
double currentTime_
 
bool sensorsAreEnabled
 
double timeStep_
 

Detailed Description

Definition at line 68 of file ODE_World.h.

Member Typedef Documentation

◆ LinkPairArray

typedef std::vector<LinkPair> ODE_World::LinkPairArray

Definition at line 122 of file ODE_World.h.

Constructor & Destructor Documentation

◆ ODE_World()

ODE_World::ODE_World ( )

Definition at line 15 of file ODE_World.cpp.

◆ ~ODE_World()

ODE_World::~ODE_World ( )

Definition at line 32 of file ODE_World.cpp.

Member Function Documentation

◆ addBody()

void ODE_World::addBody ( OpenHRP::BodyInfo_ptr  body,
const char *  name 
)

add body to this world

Parameters
body
Returns
index of the body
Note
This must be called before initialize() is called.

Definition at line 55 of file ODE_World.cpp.

◆ addCollisionPair()

void ODE_World::addCollisionPair ( OpenHRP::LinkPair &  linkPair)

Definition at line 64 of file ODE_World.cpp.

◆ calcNextState()

void ODE_World::calcNextState ( OpenHRP::CollisionSequence &  corbaCollisionSequence)

compute forward dynamics and update current state

Definition at line 104 of file ODE_World.cpp.

◆ clearExternalForces()

void ODE_World::clearExternalForces ( )

Definition at line 193 of file ODE_World.cpp.

◆ getGravityAcceleration()

void ODE_World::getGravityAcceleration ( dVector3 &  gravity)

get gravity acceleration

Returns
gravity accleration

Definition at line 50 of file ODE_World.cpp.

◆ getJointGroupID()

dJointGroupID ODE_World::getJointGroupID ( )
inline

Definition at line 114 of file ODE_World.h.

◆ getSpaceID()

dSpaceID ODE_World::getSpaceID ( )
inline

Definition at line 113 of file ODE_World.h.

◆ getWorldID()

dWorldID ODE_World::getWorldID ( )
inline

Definition at line 112 of file ODE_World.h.

◆ initialize()

void ODE_World::initialize ( )
virtual

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

Reimplemented from hrp::WorldBase.

Definition at line 173 of file ODE_World.cpp.

◆ setGravityAcceleration()

void ODE_World::setGravityAcceleration ( const dVector3 &  gravity)

set gravity acceleration

Parameters
ggravity acceleration[m/s^2]

Definition at line 45 of file ODE_World.cpp.

◆ updateSensors()

void ODE_World::updateSensors ( )
private

Definition at line 197 of file ODE_World.cpp.

◆ useInternalCollisionDetector()

void ODE_World::useInternalCollisionDetector ( bool  use)
inline

Definition at line 106 of file ODE_World.h.

Member Data Documentation

◆ collisions

OpenHRP::CollisionSequence ODE_World::collisions

Definition at line 116 of file ODE_World.h.

◆ contactgroupId

dJointGroupID ODE_World::contactgroupId
private

Definition at line 128 of file ODE_World.h.

◆ linkPairs

LinkPairArray ODE_World::linkPairs

Definition at line 123 of file ODE_World.h.

◆ spaceId

dSpaceID ODE_World::spaceId
private

Definition at line 127 of file ODE_World.h.

◆ useInternalCollisionDetector_

bool ODE_World::useInternalCollisionDetector_
private

Definition at line 130 of file ODE_World.h.

◆ worldId

dWorldID ODE_World::worldId
private

Definition at line 126 of file ODE_World.h.


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


openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Wed Sep 7 2022 02:51:05