DynamicsSimulator_impl Class Reference

#include <DynamicsSimulator_impl.h>

List of all members.

Public Member Functions
virtual void	calcCharacterForwardKinematics (const char *characterName)
virtual void	calcCharacterForwardKinematics (const char *characterName)
virtual CORBA::Boolean	calcCharacterInverseKinematics (const char *characterName, const char *baseLink, const char *targetLink, const LinkPosition &target)
	not implemented as a server function (08/13/2007)
virtual CORBA::Boolean	calcCharacterInverseKinematics (const char *characterName, const char *baseLink, const char *targetLink, const LinkPosition &target)
virtual void	calcCharacterJacobian (const char *characterName, const char *baseLink, const char *targetLink, DblSequence_out jacobian)
virtual void	calcCharacterJacobian (const char *characterName, const char *baseLink, const char *targetLink, DblSequence_out jacobian)
virtual void	calcWorldForwardKinematics ()
virtual void	calcWorldForwardKinematics ()
virtual bool	checkCollision (bool checkAll)
virtual bool	checkCollision (bool checkAll)
virtual DistanceSequence *	checkDistance ()
virtual DistanceSequence *	checkDistance ()
virtual LinkPairSequence *	checkIntersection (CORBA::Boolean checkAll)
virtual LinkPairSequence *	checkIntersection (CORBA::Boolean checkAll)
virtual void	destroy ()
virtual void	destroy ()
	DynamicsSimulator_impl (CORBA::ORB_ptr orb)
	DynamicsSimulator_impl (CORBA::ORB_ptr orb)
virtual void	getCharacterAllLinkData (const char *characterName, OpenHRP::DynamicsSimulator::LinkDataType type, DblSequence_out wdata)
virtual void	getCharacterAllLinkData (const char *characterName, OpenHRP::DynamicsSimulator::LinkDataType type, DblSequence_out wdata)
virtual CORBA::Boolean	getCharacterCollidingPairs (const char *characterName, LinkPairSequence_out pairs)
virtual CORBA::Boolean	getCharacterCollidingPairs (const char *characterName, LinkPairSequence_out pairs)
virtual void	getCharacterLinkData (const char *characterName, const char *link, OpenHRP::DynamicsSimulator::LinkDataType type, DblSequence_out rdata)
virtual void	getCharacterLinkData (const char *characterName, const char *link, OpenHRP::DynamicsSimulator::LinkDataType type, DblSequence_out rdata)
virtual void	getCharacterSensorState (const char *characterName, SensorState_out sstate)
virtual void	getCharacterSensorState (const char *characterName, SensorState_out sstate)
virtual void	getCharacterSensorValues (const char *characterName, const char *sensorName, DblSequence_out values)
virtual void	getCharacterSensorValues (const char *characterName, const char *sensorName, DblSequence_out values)
virtual void	getExtraJointConstraintForce (const char *characterName, const char *extraJointName, DblSequence6_out contactForce)
virtual void	getExtraJointConstraintForce (const char *characterName, const char *extraJointName, DblSequence6_out contactForce)
virtual void	getGVector (DblSequence3_out wdata)
virtual void	getGVector (DblSequence3_out wdata)
virtual void	getWorldState (WorldState_out state)
virtual void	getWorldState (WorldState_out wstate)
virtual void	init (CORBA::Double timeStep, OpenHRP::DynamicsSimulator::IntegrateMethod integrateOpt, OpenHRP::DynamicsSimulator::SensorOption sensorOpt)
virtual void	init (CORBA::Double timeStep, OpenHRP::DynamicsSimulator::IntegrateMethod integrateOpt, OpenHRP::DynamicsSimulator::SensorOption sensorOpt)
virtual void	initSimulation ()
virtual void	initSimulation ()
virtual void	registerCharacter (const char *name, BodyInfo_ptr cinfo)
virtual void	registerCharacter (const char *name, BodyInfo_ptr binfo)
virtual void	registerCollisionCheckPair (const char *char1, const char *name1, const char *char2, const char *name2, CORBA::Double staticFriction, CORBA::Double slipFriction, const DblSequence6 &K, const DblSequence6 &C, const double culling_thresh, const double restitution)
virtual void	registerCollisionCheckPair (const char *char1, const char *name1, const char *char2, const char *name2, CORBA::Double staticFriction, CORBA::Double slipFriction, const DblSequence6 &K, const DblSequence6 &C, const double culling_thresh, const double restitution)
virtual void	registerExtraJoint (const char *charName1, const char *linkName1, const char *charName2, const char *linkName2, const DblSequence3 &link1LocalPos, const DblSequence3 &link2LocalPos, const ExtraJointType jointType, const DblSequence3 &jointAxis, const char *extraJointName)
virtual void	registerExtraJoint (const char *charName1, const char *linkName1, const char *charName2, const char *linkName2, const DblSequence3 &link1LocalPos, const DblSequence3 &link2LocalPos, const ExtraJointType jointType, const DblSequence3 &jointAxis, const char *extraJointName)
virtual void	registerIntersectionCheckPair (const char *char1, const char *name1, const char *char2, const char *name2, const double tolerance)
virtual void	registerIntersectionCheckPair (const char *char1, const char *name1, const char *char2, const char *name2, const double tolerance)
virtual void	setCharacterAllJointModes (const char *characterName, OpenHRP::DynamicsSimulator::JointDriveMode jointMode)
virtual void	setCharacterAllJointModes (const char *characterName, OpenHRP::DynamicsSimulator::JointDriveMode jointMode)
virtual void	setCharacterAllLinkData (const char *characterName, OpenHRP::DynamicsSimulator::LinkDataType type, const DblSequence &wdata)
virtual void	setCharacterAllLinkData (const char *characterName, OpenHRP::DynamicsSimulator::LinkDataType type, const DblSequence &wdata)
virtual void	setCharacterLinkData (const char *characterName, const char *link, OpenHRP::DynamicsSimulator::LinkDataType type, const DblSequence &data)
virtual void	setCharacterLinkData (const char *characterName, const char *link, OpenHRP::DynamicsSimulator::LinkDataType type, const DblSequence &data)
virtual void	setGVector (const DblSequence3 &wdata)
virtual void	setGVector (const DblSequence3 &wdata)
virtual void	stepSimulation ()
virtual void	stepSimulation ()
	~DynamicsSimulator_impl ()
	~DynamicsSimulator_impl ()
Private Member Functions
void	_setupCharacterData ()
void	_setupCharacterData ()
void	_updateCharacterPositions ()
void	_updateCharacterPositions ()
void	_updateSensorStates ()
void	_updateSensorStates ()
void	registerCollisionPair2CD (const std::string &, const std::string &, const std::string &, const std::string &)
void	registerCollisionPair2CD (const std::string &, const std::string &, const std::string &, const std::string &)
Private Attributes
CharacterPositionSequence_var	allCharacterPositions
SensorStateSequence_var	allCharacterSensorStates
LinkPairSequence_var	collidingLinkPairs
CollisionDetector_var	collisionDetector
CollisionSequence_var	collisions
bool	isFirstSimulationLoop
bool	needToUpdatePositions
bool	needToUpdateSensorStates
CORBA::ORB_var	orb_
TimeMeasure	timeMeasure1
TimeMeasure	timeMeasure2
TimeMeasure	timeMeasure3
bool	timeMeasureFinished
bool	timeMeasureStarted
::World	world
hrp::World < hrp::ConstraintForceSolver >	world

---

Detailed Description

DynamicsSimulator_impl class

Definition at line 35 of file AistDynamicsSimulator/DynamicsSimulator_impl.h.

---

Constructor & Destructor Documentation

DynamicsSimulator_impl::DynamicsSimulator_impl

(

CORBA::ORB_ptr

orb

)

Definition at line 116 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

DynamicsSimulator_impl::~DynamicsSimulator_impl

(

)

Definition at line 157 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

DynamicsSimulator_impl::DynamicsSimulator_impl

(

CORBA::ORB_ptr

orb

)

DynamicsSimulator_impl::~DynamicsSimulator_impl

(

)

---

Member Function Documentation

void DynamicsSimulator_impl::_setupCharacterData

(

)

[private]

void DynamicsSimulator_impl::_setupCharacterData

(

)

[private]

Definition at line 1213 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

void DynamicsSimulator_impl::_updateCharacterPositions

(

)

[private]

void DynamicsSimulator_impl::_updateCharacterPositions

(

)

[private]

Definition at line 1253 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

void DynamicsSimulator_impl::_updateSensorStates

(

)

[private]

void DynamicsSimulator_impl::_updateSensorStates

(

)

[private]

Definition at line 1289 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

virtual void DynamicsSimulator_impl::calcCharacterForwardKinematics

(

const char *

characterName

)

[virtual]

void DynamicsSimulator_impl::calcCharacterForwardKinematics

(

const char *

characterName

)

[virtual]

Definition at line 1107 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

virtual CORBA::Boolean DynamicsSimulator_impl::calcCharacterInverseKinematics	(	const char *	characterName,
		const char *	baseLink,
		const char *	targetLink,
		const LinkPosition &	target
	)		[virtual]

not implemented as a server function (08/13/2007)

CORBA::Boolean DynamicsSimulator_impl::calcCharacterInverseKinematics	(	const char *	characterName,
		const char *	baseLink,
		const char *	targetLink,
		const LinkPosition &	target
	)		[virtual]

Definition at line 1059 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

virtual void DynamicsSimulator_impl::calcCharacterJacobian	(	const char *	characterName,
		const char *	baseLink,
		const char *	targetLink,
		DblSequence_out	jacobian
	)		[virtual]

void DynamicsSimulator_impl::calcCharacterJacobian	(	const char *	characterName,
		const char *	baseLink,
		const char *	targetLink,
		DblSequence_out	jacobian
	)		[virtual]

Definition at line 1414 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

virtual void DynamicsSimulator_impl::calcWorldForwardKinematics

(

)

[virtual]

void DynamicsSimulator_impl::calcWorldForwardKinematics

(

)

[virtual]

Definition at line 1128 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

bool DynamicsSimulator_impl::checkCollision

(

bool

checkAll

)

[virtual]

Definition at line 1139 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

virtual bool DynamicsSimulator_impl::checkCollision

(

bool

checkAll

)

[virtual]

DistanceSequence * DynamicsSimulator_impl::checkDistance

(

)

[virtual]

Definition at line 1153 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

virtual DistanceSequence* DynamicsSimulator_impl::checkDistance

(

)

[virtual]

LinkPairSequence * DynamicsSimulator_impl::checkIntersection

(

CORBA::Boolean

checkAll

)

[virtual]

Definition at line 1166 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

virtual LinkPairSequence* DynamicsSimulator_impl::checkIntersection

(

CORBA::Boolean

checkAll

)

[virtual]

virtual void DynamicsSimulator_impl::destroy

(

)

[virtual]

void DynamicsSimulator_impl::destroy

(

)

[virtual]

Definition at line 167 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

virtual void DynamicsSimulator_impl::getCharacterAllLinkData	(	const char *	characterName,
		OpenHRP::DynamicsSimulator::LinkDataType	type,
		DblSequence_out	wdata
	)		[virtual]

void DynamicsSimulator_impl::getCharacterAllLinkData	(	const char *	characterName,
		OpenHRP::DynamicsSimulator::LinkDataType	type,
		DblSequence_out	wdata
	)		[virtual]

Definition at line 865 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

virtual CORBA::Boolean DynamicsSimulator_impl::getCharacterCollidingPairs	(	const char *	characterName,
		LinkPairSequence_out	pairs
	)		[virtual]

CORBA::Boolean DynamicsSimulator_impl::getCharacterCollidingPairs	(	const char *	characterName,
		LinkPairSequence_out	pairs
	)		[virtual]

Note:

S L O W. If CORBA sequence resize does not fiddle with the memory allocation one loop will do. Two to be on the safe side.

Definition at line 1373 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

virtual void DynamicsSimulator_impl::getCharacterLinkData	(	const char *	characterName,
		const char *	link,
		OpenHRP::DynamicsSimulator::LinkDataType	type,
		DblSequence_out	rdata
	)		[virtual]

void DynamicsSimulator_impl::getCharacterLinkData	(	const char *	characterName,
		const char *	link,
		OpenHRP::DynamicsSimulator::LinkDataType	type,
		DblSequence_out	rdata
	)		[virtual]

Definition at line 762 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

virtual void DynamicsSimulator_impl::getCharacterSensorState	(	const char *	characterName,
		SensorState_out	sstate
	)		[virtual]

void DynamicsSimulator_impl::getCharacterSensorState	(	const char *	characterName,
		SensorState_out	sstate
	)		[virtual]

Definition at line 1198 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

virtual void DynamicsSimulator_impl::getCharacterSensorValues	(	const char *	characterName,
		const char *	sensorName,
		DblSequence_out	values
	)		[virtual]

void DynamicsSimulator_impl::getCharacterSensorValues	(	const char *	characterName,
		const char *	sensorName,
		DblSequence_out	values
	)		[virtual]

Definition at line 466 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

virtual void DynamicsSimulator_impl::getExtraJointConstraintForce	(	const char *	characterName,
		const char *	extraJointName,
		DblSequence6_out	contactForce
	)		[virtual]

void DynamicsSimulator_impl::getExtraJointConstraintForce	(	const char *	characterName,
		const char *	extraJointName,
		DblSequence6_out	contactForce
	)		[virtual]

Todo:

implement this method

Todo:

implement this method

Definition at line 452 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

virtual void DynamicsSimulator_impl::getGVector

(

DblSequence3_out

wdata

)

[virtual]

void DynamicsSimulator_impl::getGVector

(

DblSequence3_out

wdata

)

[virtual]

Definition at line 1012 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

virtual void DynamicsSimulator_impl::getWorldState

(

WorldState_out

state

)

[virtual]

void DynamicsSimulator_impl::getWorldState

(

WorldState_out

wstate

)

[virtual]

Definition at line 1178 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

virtual void DynamicsSimulator_impl::init	(	CORBA::Double	timeStep,
		OpenHRP::DynamicsSimulator::IntegrateMethod	integrateOpt,
		OpenHRP::DynamicsSimulator::SensorOption	sensorOpt
	)		[virtual]

void DynamicsSimulator_impl::init	(	CORBA::Double	timeStep,
		OpenHRP::DynamicsSimulator::IntegrateMethod	integrateOpt,
		OpenHRP::DynamicsSimulator::SensorOption	sensorOpt
	)		[virtual]

Definition at line 206 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

virtual void DynamicsSimulator_impl::initSimulation

(

)

[virtual]

void DynamicsSimulator_impl::initSimulation

(

)

[virtual]

Definition at line 559 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

virtual void DynamicsSimulator_impl::registerCharacter	(	const char *	name,
		BodyInfo_ptr	cinfo
	)		[virtual]

void DynamicsSimulator_impl::registerCharacter	(	const char *	name,
		BodyInfo_ptr	binfo
	)		[virtual]

Definition at line 180 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

virtual void DynamicsSimulator_impl::registerCollisionCheckPair	(	const char *	char1,
		const char *	name1,
		const char *	char2,
		const char *	name2,
		CORBA::Double	staticFriction,
		CORBA::Double	slipFriction,
		const DblSequence6 &	K,
		const DblSequence6 &	C,
		const double	culling_thresh,
		const double	restitution
	)		[virtual]

void DynamicsSimulator_impl::registerCollisionCheckPair	(	const char *	char1,
		const char *	name1,
		const char *	char2,
		const char *	name2,
		CORBA::Double	staticFriction,
		CORBA::Double	slipFriction,
		const DblSequence6 &	K,
		const DblSequence6 &	C,
		const double	culling_thresh,
		const double	restitution
	)		[virtual]

Definition at line 244 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

void DynamicsSimulator_impl::registerCollisionPair2CD	(	const std::string &	,
		const std::string &	,
		const std::string &	,
		const std::string &
	)		[private]

void DynamicsSimulator_impl::registerCollisionPair2CD	(	const std::string &	,
		const std::string &	,
		const std::string &	,
		const std::string &
	)		[private]

virtual void DynamicsSimulator_impl::registerExtraJoint	(	const char *	charName1,
		const char *	linkName1,
		const char *	charName2,
		const char *	linkName2,
		const DblSequence3 &	link1LocalPos,
		const DblSequence3 &	link2LocalPos,
		const ExtraJointType	jointType,
		const DblSequence3 &	jointAxis,
		const char *	extraJointName
	)		[virtual]

void DynamicsSimulator_impl::registerExtraJoint	(	const char *	charName1,
		const char *	linkName1,
		const char *	charName2,
		const char *	linkName2,
		const DblSequence3 &	link1LocalPos,
		const DblSequence3 &	link2LocalPos,
		const ExtraJointType	jointType,
		const DblSequence3 &	jointAxis,
		const char *	extraJointName
	)		[virtual]

Definition at line 406 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

virtual void DynamicsSimulator_impl::registerIntersectionCheckPair	(	const char *	char1,
		const char *	name1,
		const char *	char2,
		const char *	name2,
		const double	tolerance
	)		[virtual]

void DynamicsSimulator_impl::registerIntersectionCheckPair	(	const char *	char1,
		const char *	name1,
		const char *	char2,
		const char *	name2,
		const double	tolerance
	)		[virtual]

Definition at line 342 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

virtual void DynamicsSimulator_impl::setCharacterAllJointModes	(	const char *	characterName,
		OpenHRP::DynamicsSimulator::JointDriveMode	jointMode
	)		[virtual]

void DynamicsSimulator_impl::setCharacterAllJointModes	(	const char *	characterName,
		OpenHRP::DynamicsSimulator::JointDriveMode	jointMode
	)		[virtual]

Definition at line 1032 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

virtual void DynamicsSimulator_impl::setCharacterAllLinkData	(	const char *	characterName,
		OpenHRP::DynamicsSimulator::LinkDataType	type,
		const DblSequence &	wdata
	)		[virtual]

void DynamicsSimulator_impl::setCharacterAllLinkData	(	const char *	characterName,
		OpenHRP::DynamicsSimulator::LinkDataType	type,
		const DblSequence &	wdata
	)		[virtual]

Definition at line 920 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

virtual void DynamicsSimulator_impl::setCharacterLinkData	(	const char *	characterName,
		const char *	link,
		OpenHRP::DynamicsSimulator::LinkDataType	type,
		const DblSequence &	data
	)		[virtual]

void DynamicsSimulator_impl::setCharacterLinkData	(	const char *	characterName,
		const char *	link,
		OpenHRP::DynamicsSimulator::LinkDataType	type,
		const DblSequence &	data
	)		[virtual]

Definition at line 626 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

virtual void DynamicsSimulator_impl::setGVector

(

const DblSequence3 &

wdata

)

[virtual]

void DynamicsSimulator_impl::setGVector

(

const DblSequence3 &

wdata

)

[virtual]

Definition at line 989 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

virtual void DynamicsSimulator_impl::stepSimulation

(

)

[virtual]

void DynamicsSimulator_impl::stepSimulation

(

)

[virtual]

Definition at line 583 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

---

Member Data Documentation

CharacterPositionSequence_var DynamicsSimulator_impl::allCharacterPositions [private]

Definition at line 50 of file AistDynamicsSimulator/DynamicsSimulator_impl.h.

SensorStateSequence_var DynamicsSimulator_impl::allCharacterSensorStates [private]

Definition at line 53 of file AistDynamicsSimulator/DynamicsSimulator_impl.h.

LinkPairSequence_var DynamicsSimulator_impl::collidingLinkPairs [private]

Definition at line 48 of file AistDynamicsSimulator/DynamicsSimulator_impl.h.

CollisionDetector_var DynamicsSimulator_impl::collisionDetector [private]

Definition at line 45 of file AistDynamicsSimulator/DynamicsSimulator_impl.h.

CollisionSequence_var DynamicsSimulator_impl::collisions [private]

Definition at line 47 of file AistDynamicsSimulator/DynamicsSimulator_impl.h.

bool DynamicsSimulator_impl::isFirstSimulationLoop [private]

Definition at line 54 of file UtDynamicsSimulator/DynamicsSimulator_impl.h.

bool DynamicsSimulator_impl::needToUpdatePositions [private]

Definition at line 51 of file AistDynamicsSimulator/DynamicsSimulator_impl.h.

bool DynamicsSimulator_impl::needToUpdateSensorStates [private]

Definition at line 54 of file AistDynamicsSimulator/DynamicsSimulator_impl.h.

CORBA::ORB_var DynamicsSimulator_impl::orb_ [private]

ORB

Definition at line 41 of file AistDynamicsSimulator/DynamicsSimulator_impl.h.

TimeMeasure DynamicsSimulator_impl::timeMeasure1 [private]

Definition at line 56 of file AistDynamicsSimulator/DynamicsSimulator_impl.h.

TimeMeasure DynamicsSimulator_impl::timeMeasure2 [private]

Definition at line 57 of file AistDynamicsSimulator/DynamicsSimulator_impl.h.

TimeMeasure DynamicsSimulator_impl::timeMeasure3 [private]

Definition at line 58 of file AistDynamicsSimulator/DynamicsSimulator_impl.h.

bool DynamicsSimulator_impl::timeMeasureFinished [private]

Definition at line 59 of file AistDynamicsSimulator/DynamicsSimulator_impl.h.

bool DynamicsSimulator_impl::timeMeasureStarted [private]

Definition at line 60 of file AistDynamicsSimulator/DynamicsSimulator_impl.h.

::World DynamicsSimulator_impl::world [private]

Definition at line 41 of file UtDynamicsSimulator/DynamicsSimulator_impl.h.

hrp::World<hrp::ConstraintForceSolver> DynamicsSimulator_impl::world [private]

Definition at line 43 of file AistDynamicsSimulator/DynamicsSimulator_impl.h.

---

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

• AistDynamicsSimulator/DynamicsSimulator_impl.h
• UtDynamicsSimulator/DynamicsSimulator_impl.h
• AistDynamicsSimulator/DynamicsSimulator_impl.cpp
• UtDynamicsSimulator/DynamicsSimulator_impl.cpp