ODE_World Class Reference

#include <ODE_World.h>

Inheritance diagram for ODE_World:

List of all members.

Classes
struct	LinkPair
Public Types
typedef std::vector< LinkPair >	LinkPairArray
Public Member Functions
void	addBody (OpenHRP::BodyInfo_ptr body, const char *name)
	add body to this world
void	addCollisionPair (OpenHRP::LinkPair &linkPair)
void	calcNextState (OpenHRP::CollisionSequence &corbaCollisionSequence)
	compute forward dynamics and update current state
void	clearExternalForces ()
void	getGravityAcceleration (dVector3 &gravity)
	get gravity acceleration
dJointGroupID	getJointGroupID ()
dSpaceID	getSpaceID ()
dWorldID	getWorldID ()
void	initialize ()
	initialize this world. This must be called after all bodies are registered.
	ODE_World ()
void	setGravityAcceleration (const dVector3 &gravity)
	set gravity acceleration
void	useInternalCollisionDetector (bool use)
	~ODE_World ()
Public Attributes
OpenHRP::CollisionSequence	collisions
LinkPairArray	linkPairs
Private Member Functions
void	updateSensors ()
Private Attributes
dJointGroupID	contactgroupId
dSpaceID	spaceId
bool	useInternalCollisionDetector_
dWorldID	worldId

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Detailed Description

Definition at line 68 of file ODE_World.h.

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Member Typedef Documentation

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

Definition at line 122 of file ODE_World.h.

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Constructor & Destructor Documentation

ODE_World::ODE_World

(

)

Definition at line 15 of file ODE_World.cpp.

ODE_World::~ODE_World

(

)

Definition at line 32 of file ODE_World.cpp.

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Member Function Documentation

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.

void ODE_World::addCollisionPair

(

OpenHRP::LinkPair &

linkPair

)

Definition at line 64 of file ODE_World.cpp.

void ODE_World::calcNextState

(

OpenHRP::CollisionSequence &

corbaCollisionSequence

)

compute forward dynamics and update current state

Definition at line 104 of file ODE_World.cpp.

void ODE_World::clearExternalForces

(

)

Definition at line 193 of file ODE_World.cpp.

void ODE_World::getGravityAcceleration

(

dVector3 &

gravity

)

get gravity acceleration

Returns:

gravity accleration

Definition at line 50 of file ODE_World.cpp.

dJointGroupID ODE_World::getJointGroupID

(

)

[inline]

Definition at line 114 of file ODE_World.h.

dSpaceID ODE_World::getSpaceID

(

)

[inline]

Definition at line 113 of file ODE_World.h.

dWorldID ODE_World::getWorldID

(

)

[inline]

Definition at line 112 of file ODE_World.h.

void ODE_World::initialize

(

void

)

[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.

void ODE_World::setGravityAcceleration

(

const dVector3 &

gravity

)

set gravity acceleration

Parameters:

g	gravity acceleration[m/s^2]

Definition at line 45 of file ODE_World.cpp.

void ODE_World::updateSensors

(

)

[private]

Definition at line 197 of file ODE_World.cpp.

void ODE_World::useInternalCollisionDetector

(

bool

use

)

[inline]

Definition at line 106 of file ODE_World.h.

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Member Data Documentation

OpenHRP::CollisionSequence ODE_World::collisions

Definition at line 116 of file ODE_World.h.

dJointGroupID ODE_World::contactgroupId [private]

Definition at line 128 of file ODE_World.h.

LinkPairArray ODE_World::linkPairs

Definition at line 123 of file ODE_World.h.

dSpaceID ODE_World::spaceId [private]

Definition at line 127 of file ODE_World.h.

bool ODE_World::useInternalCollisionDetector_ [private]

Definition at line 130 of file ODE_World.h.

dWorldID ODE_World::worldId [private]

Definition at line 126 of file ODE_World.h.

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

• ODE_World.h
• ODE_World.cpp