DynamicsSimulator_impl.h
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00001 // -*- mode: c++; indent-tabs-mode: t; tab-width: 4; c-basic-offset: 4; -*-
00002 /*
00003  * Copyright (c) 2008, AIST, the University of Tokyo and General Robotix Inc.
00004  * All rights reserved. This program is made available under the terms of the
00005  * Eclipse Public License v1.0 which accompanies this distribution, and is
00006  * available at http://www.eclipse.org/legal/epl-v10.html
00007  * Contributors:
00008  * The University of Tokyo
00009  * National Institute of Advanced Industrial Science and Technology (AIST)
00010  * General Robotix Inc. 
00011  */
00012 #ifndef NEW_DYNAMICSSIMULATOR_IMPL_HEADER
00013 #define NEW_DYNAMICSSIMULATOR_IMPL_HEADER
00014 
00019 #include <boost/scoped_ptr.hpp>
00020 
00021 #include <hrpCorba/ORBwrap.h>
00022 #include <hrpCorba/ModelLoader.hh>
00023 #include <hrpCorba/CollisionDetector.hh>
00024 #include <hrpCorba/DynamicsSimulator.hh>
00025 
00026 #include "World.h"
00027 #include "TimeMeasure.h"
00028 
00029 using namespace OpenHRP;
00033         class DynamicsSimulator_impl : virtual public POA_OpenHRP::DynamicsSimulator,
00034                                                                    virtual public PortableServer::RefCountServantBase
00035         {
00039                 CORBA::ORB_var orb_;
00040 
00041                 ::World world;
00042 
00043                 CollisionDetector_var collisionDetector;
00044 
00045                 CollisionSequence_var collisions;
00046                 LinkPairSequence_var collidingLinkPairs;
00047 
00048                 CharacterPositionSequence_var allCharacterPositions;
00049                 bool needToUpdatePositions;
00050 
00051                 SensorStateSequence_var allCharacterSensorStates;
00052                 bool needToUpdateSensorStates;
00053 
00054                 bool isFirstSimulationLoop;
00055 
00056                 TimeMeasure timeMeasure1;
00057                 TimeMeasure timeMeasure2;
00058                 TimeMeasure timeMeasure3;
00059                 bool timeMeasureFinished;
00060 
00061                 void _setupCharacterData();
00062                 void _updateCharacterPositions();
00063                 void _updateSensorStates();
00064 
00065                 void registerCollisionPair2CD(
00066                                 const std::string &, const std::string &,
00067                                 const std::string &, const std::string &);
00068 
00069         public:
00070 
00071                 DynamicsSimulator_impl(CORBA::ORB_ptr orb);
00072 
00073                 ~DynamicsSimulator_impl();
00074 
00075 
00076                 virtual void destroy();
00077 
00078                 virtual void registerCharacter(
00079                                 const char *name,
00080                                 BodyInfo_ptr cinfo);
00081 
00082                 virtual void init(
00083                                 CORBA::Double timeStep,
00084                                 OpenHRP::DynamicsSimulator::IntegrateMethod integrateOpt,
00085                                 OpenHRP::DynamicsSimulator::SensorOption sensorOpt);
00086     
00087                 virtual void registerCollisionCheckPair(
00088                                 const char* char1, 
00089                                 const char* name1, 
00090                                 const char* char2,
00091                                 const char* name2,
00092                                 CORBA::Double staticFriction, 
00093                                 CORBA::Double slipFriction,
00094                                 const DblSequence6& K,
00095                                 const DblSequence6& C,
00096                 const double culling_thresh,
00097                                 const double restitution);
00098 
00099                 virtual void registerIntersectionCheckPair(
00100                 const char* char1, 
00101                                 const char* name1, 
00102                                 const char* char2,
00103                                 const char* name2,
00104                                 const double tolerance);
00105 
00106                 virtual void registerExtraJoint
00107                 (
00108                         const char*     charName1,
00109                         const char*     linkName1,
00110                         const char*     charName2,
00111                         const char*     linkName2,
00112                         const DblSequence3&     link1LocalPos,
00113                         const DblSequence3&     link2LocalPos,
00114                         const ExtraJointType jointType,
00115                         const DblSequence3&     jointAxis,
00116                         const char*                     extraJointName);
00117 
00118                 // TODO
00119                 virtual void getExtraJointConstraintForce(
00120                                 const char* characterName, 
00121                                 const char* extraJointName, 
00122                                 DblSequence6_out contactForce);
00123 
00124                 virtual void getCharacterSensorValues(
00125                                 const char* characterName,
00126                                 const char* sensorName,
00127                                 DblSequence_out values);
00128 
00129                 virtual void initSimulation();
00130 
00131                 virtual void stepSimulation();
00132 
00133                 virtual void setCharacterLinkData(
00134                                 const char* characterName, 
00135                                 const char* link, 
00136                                 OpenHRP::DynamicsSimulator::LinkDataType type, 
00137                                 const DblSequence& data);
00138 
00139                 virtual void getCharacterLinkData(
00140                                 const char* characterName,
00141                                 const char* link,
00142                                 OpenHRP::DynamicsSimulator::LinkDataType type,
00143                                 DblSequence_out rdata);
00144 
00145                 virtual void getCharacterAllLinkData(
00146                                 const char* characterName,
00147                                 OpenHRP::DynamicsSimulator::LinkDataType type,
00148                                 DblSequence_out wdata);
00149    
00150                 virtual void setCharacterAllLinkData(
00151                                 const char* characterName, 
00152                                 OpenHRP::DynamicsSimulator::LinkDataType type,
00153                                 const DblSequence& wdata);
00154 
00155                 virtual void setGVector(const DblSequence3& wdata);
00156 
00157                 virtual void getGVector(DblSequence3_out wdata);
00158 
00159                 virtual void setCharacterAllJointModes(
00160                                 const char* characterName, 
00161                                 OpenHRP::DynamicsSimulator::JointDriveMode jointMode);
00162 
00164                 virtual CORBA::Boolean calcCharacterInverseKinematics(
00165                                 const char* characterName,
00166                                 const char* baseLink,
00167                                 const char* targetLink,
00168                                 const LinkPosition& target);
00169 
00170                 virtual void calcCharacterForwardKinematics(
00171                                 const char* characterName);
00172 
00173                 virtual void calcWorldForwardKinematics();
00174                 
00175                 virtual void getWorldState(WorldState_out state);
00176 
00177                 virtual void getCharacterSensorState(const char* characterName, SensorState_out sstate);
00178 
00179                 virtual CORBA::Boolean getCharacterCollidingPairs(
00180                                 const char* characterName, 
00181                                 LinkPairSequence_out pairs);
00182 
00183                 virtual void calcCharacterJacobian(
00184                                 const char* characterName,
00185                                 const char* baseLink,
00186                                 const char* targetLink,
00187                                 DblSequence_out jacobian);
00188 
00189                 virtual bool checkCollision(bool checkAll);
00190 
00191                 virtual LinkPairSequence *checkIntersection(CORBA::Boolean checkAll);
00192 
00193                 virtual DistanceSequence *checkDistance();
00194         };
00195 
00203         class DynamicsSimulatorFactory_impl: virtual public POA_OpenHRP::DynamicsSimulatorFactory
00204         {
00205 
00206         private:
00210                 CORBA::ORB_var orb_;
00211     
00212         public:
00213 
00218                 DynamicsSimulatorFactory_impl(CORBA::ORB_ptr orb);
00219 
00223                 ~DynamicsSimulatorFactory_impl();
00224                 
00228                 DynamicsSimulator_ptr create();
00229                 
00230                 void shutdown();
00231                 
00232         };
00233 
00234 #endif


openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Thu Apr 11 2019 03:30:16