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int | AutoSchedule (int max_procs) |
| Automatic scheduling for max_procs processors. More...
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virtual void | Clear () |
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int | ConstraintForces (fVec &cf) |
| Extract the constraint forces. More...
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void | DumpSchedule (ostream &ost) |
| Dump the schedule information to ost . More...
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void | GetPJoint (Joint *_joint, pJoint *_pjoints[2]) |
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int | NumLeaves () |
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| pSim () |
| Default constructor. More...
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int | Schedule () |
| Creates default schedule, which is optimized for serial computation. More...
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int | Schedule (Joint **joints) |
| Creates a schedule that assembles the chain in the specified order of joints. More...
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int | ScheduleDepth () |
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int | TotalCost () |
| Approximate indicators of total computational cost. More...
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int | Update () |
| Compute joint accelerations. More...
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int | Update (double timestep, std::vector< class SDContactPair * > &sdContactPairs) |
| Compute joint accelerations and contact forces. More...
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| ~pSim () |
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void | add_scale_object (const scale_object &_s) |
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int | AddJoint (Joint *target, const char *parent_name, const char *charname=0) |
| Add a new joint target as a child of joint with name parent_name . More...
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int | AddJoint (Joint *target, Joint *p) |
| Add a new joint target as a child of joint p . More...
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Joint * | AddJoint (JointData *joint_data, const char *charname=0) |
| Create and add a joint using JointData structure. More...
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Joint * | AddRoot (const char *name=0, const fVec3 &grav=fVec3(0.0, 0.0, 9.8)) |
| Add the (unique) root joint. More...
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int | AddRoot (Joint *r) |
| Add the (unique) root joint. More...
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void | ApplyGeomScale (SceneGraph *sg) |
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int | BeginCreateChain (int append=false) |
| Indicates begining of creating a kinematic chain. More...
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void | CalcAcceleration () |
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void | CalcPosition () |
| Forward kinematics. More...
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void | CalcVelocity () |
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| Chain () |
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void | clear_scale_object_list () |
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int | ClearExtForce () |
| Clear the external forces/torques. More...
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int | ClearJointForce () |
| Clear the joint forces/torques. More...
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double | ComJacobian (fMat &J, fVec3 &com, const char *chname=0) |
| Computes the com Jacobian. More...
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int | Connect (Joint *virtual_joint, Joint *parent_joint) |
| Connect two links by adding a new virtual joint. More...
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int | CreateParallel (int num_char, const char *prmname, const char *charname, const fVec3 &init_pos=0.0, const fMat33 &init_att=1.0, const fVec3 &pos_offset=0.0, const fMat33 &att_offset=1.0, int init_num=0) |
| Automatically generate multiple identical chains. More...
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int | CreateSerial (int num_joint, const JointData &joint_data, const char *charname=0, Joint *parent_joint=0) |
| Automatically generate a serial chain. More...
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int | Disconnect (Joint *j) |
| Disconnect the loop at the specified virtual joint. More...
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int | EndCreateChain (SceneGraph *sg=NULL) |
| End editing a chain. More...
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Joint * | FindCharacterRoot (const char *charname) |
| Find the root joint of the character with name charname . More...
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Joint * | FindJoint (const char *jname, const char *charname=0) |
| Find a joint from name. More...
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Joint * | FindJoint (int _id) |
| Find a joint with ID _id . More...
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int | GetJointAcc (fVec &accs) |
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int | GetJointForce (fVec &forces) |
| Obtain the joint forces/torques. More...
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int | GetJointList (Joint **&joints) |
| Obtain a list of pointers to all joints. More...
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int | GetJointNameList (char **&jnames) |
| Obtain a list of joint names. More...
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int | GetJointValue (fVec &values) |
| Obtain the joint values/velocities/accelerations. More...
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int | GetJointVel (fVec &vels) |
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int | Integrate (double timestep) |
| Performs Euler integration with timestep timestep [s]. More...
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int | IntegrateAdaptive (double ×tep, int step, double min_timestep=DEFAULT_MIN_TIMESTEP, double max_integ_error=DEFAULT_MAX_INTEG_ERROR) |
| Performs Euler integration with adaptive timestep. More...
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int | IntegrateRK4 (double timestep, int step) |
| Performs 4-th order Runge-Kutta integration. More...
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int | IntegrateRK4Value (double timestep, int step) |
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int | IntegrateRK4Velocity (double timestep, int step) |
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int | IntegrateValue (double timestep) |
| Integrate value/velocity only. More...
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int | IntegrateVelocity (double timestep) |
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void | InvDyn (fVec &tau) |
| Inverse dynamics. More...
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int | Load (const char *fname, const char *charname=0) |
| Load the chain from a file in original (*.prm) format. More...
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int | LoadXML (const char *fname, const char *charname=0) |
| Load the chain from an XML file. More...
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int | NumDOF () |
| Total degrees of freedom. More...
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int | NumJoint () |
| Total number of joints. More...
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int | NumValue () |
| Dimension of the joint value vector (using Euler parameter representation for orientation). More...
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int | RemoveJoint (Joint *j) |
| disconnect joint j from its parent More...
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Joint * | Root () |
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int | Save (const char *fname, const char *charname=0) const |
| Save the chain data to a file in original (*.prm) format. More...
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int | Save (ostream &ost, const char *charname=0) const |
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int | SaveStatus (fVec &value, fVec &vel, fVec &acc) |
| Save current joint values, velocities, and accelerations. More...
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int | SaveXML (const char *fname, const char *charname=0) const |
| Save the chain data to a file in XML format. More...
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int | SaveXML (ostream &ost, const char *charname=0) const |
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int | set_abs_position_orientation (Joint *jnt, const fVec3 &abs_pos, const fMat33 &abs_att) |
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int | SetAllTorqueGiven (int _tg) |
| Change torque/motion control property of all joints. More...
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int | SetCharacterTorqueGiven (const char *charname, int _tg) |
| Change torque/motion control property of a character. More...
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int | SetJointAcc (const fVec &accs) |
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int | SetJointForce (const fVec &forces) |
| Set all joint forces/torques. More...
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int | SetJointValue (const fVec &values) |
| Set all joint values. More...
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int | SetJointVel (const fVec &vels) |
| Set all joint velocities/accelerations. More...
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int | SetStatus (const fVec &value, const fVec &vel, const fVec &acc) |
| Set current joint values, velocities, and accelerations. More...
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int | SetTorqueGiven (Joint *_joint, int _tg) |
| Change torque/motion control property of a joint. More...
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double | TotalCOM (fVec3 &com, const char *chname=0) |
| Center of mass of the chain. More...
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virtual | ~Chain () |
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Main class for forward dynamics computation.
Definition at line 446 of file psim.h.