Public Member Functions | Private Attributes
hrp::ConstraintForceSolver Class Reference

#include <ConstraintForceSolver.h>

List of all members.

Public Member Functions

bool addCollisionCheckLinkPair (int bodyIndex1, Link *link1, int bodyIndex2, Link *link2, double muStatic, double muDynamic, double culling_thresh, double restitution, double epsilon)
bool addExtraJoint (int bodyIndex1, Link *link1, int bodyIndex2, Link *link2, const double *link1LocalPos, const double *link2LocalPos, const short jointType, const double *jointAxis)
void clearCollisionCheckLinkPairs ()
void clearExternalForces ()
 ConstraintForceSolver (WorldBase &world)
void enableConstraintForceOutput (bool on)
double getAllowedPenetrationDepth () const
void initialize (void)
void setAllowedPenetrationDepth (double dVal)
void setGaussSeidelParameters (int maxNumIteration, int numInitialIteration, double maxRelError)
void setNegativeVelocityRatioForPenetration (double ratio)
void solve (OpenHRP::CollisionSequence &corbaCollisionSequence)
void useBuiltinCollisionDetector (bool on)
 ~ConstraintForceSolver ()

Private Attributes

CFSImplimpl

Detailed Description

Definition at line 29 of file ConstraintForceSolver.h.


Constructor & Destructor Documentation

Definition at line 2172 of file ConstraintForceSolver.cpp.

Definition at line 2178 of file ConstraintForceSolver.cpp.


Member Function Documentation

bool ConstraintForceSolver::addCollisionCheckLinkPair ( int  bodyIndex1,
Link link1,
int  bodyIndex2,
Link link2,
double  muStatic,
double  muDynamic,
double  culling_thresh,
double  restitution,
double  epsilon 
)

Definition at line 2185 of file ConstraintForceSolver.cpp.

bool ConstraintForceSolver::addExtraJoint ( int  bodyIndex1,
Link link1,
int  bodyIndex2,
Link link2,
const double *  link1LocalPos,
const double *  link2LocalPos,
const short  jointType,
const double *  jointAxis 
)

Definition at line 2197 of file ConstraintForceSolver.cpp.

Definition at line 2191 of file ConstraintForceSolver.cpp.

Definition at line 2241 of file ConstraintForceSolver.cpp.

Definition at line 2211 of file ConstraintForceSolver.cpp.

Definition at line 2251 of file ConstraintForceSolver.cpp.

Definition at line 2229 of file ConstraintForceSolver.cpp.

Definition at line 2246 of file ConstraintForceSolver.cpp.

void ConstraintForceSolver::setGaussSeidelParameters ( int  maxNumIteration,
int  numInitialIteration,
double  maxRelError 
)

Definition at line 2203 of file ConstraintForceSolver.cpp.

Definition at line 2222 of file ConstraintForceSolver.cpp.

void ConstraintForceSolver::solve ( OpenHRP::CollisionSequence &  corbaCollisionSequence)

Definition at line 2235 of file ConstraintForceSolver.cpp.

Definition at line 2217 of file ConstraintForceSolver.cpp.


Member Data Documentation

Definition at line 31 of file ConstraintForceSolver.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 Thu Apr 11 2019 03:30:22