#include <World.h>

Inheritance diagram for hrp::WorldBase:

Classes
struct	BodyInfo
struct	LinkPairKey
Public Member Functions
int	addBody (BodyPtr body)
	add body to this world
BodyPtr	body (int index)
	get body by index
BodyPtr	body (const std::string &name)
	get body by name
int	bodyIndex (const std::string &name)
	get index of body by name
virtual void	calcNextState ()
	compute forward dynamics and update current state
void	clearBodies ()
	clear bodies in this world
void	clearCollisionPairs ()
	clear collision pairs
double	currentTime (void) const
	get current time
void	enableSensors (bool on)
	enable/disable sensor simulation
ForwardDynamicsPtr	forwardDynamics (int index)
	get forward dynamics computation method for body
const Vector3 &	getGravityAcceleration ()
	get gravity acceleration
std::pair< int, bool >	getIndexOfLinkPairs (Link link1, Link link2)
	get index of link pairs
virtual void	initialize ()
	initialize this world. This must be called after all bodies are registered.
unsigned int	numBodies ()
	get the number of bodies in this world
void	setCurrentTime (double tm)
	set current time
void	setEulerMethod ()
	choose euler method for integration
void	setGravityAcceleration (const Vector3 &g)
	set gravity acceleration
void	setRungeKuttaMethod ()
	choose runge-kutta method for integration
void	setTimeStep (double dt)
	set time step
double	timeStep (void) const
	get time step
	WorldBase ()
virtual	~WorldBase ()
Protected Attributes
std::vector< BodyInfo >	bodyInfoArray
double	currentTime_
bool	sensorsAreEnabled
double	timeStep_
Private Types
typedef std::map< BodyPtr, int >	BodyToIndexMap
typedef std::map< LinkPairKey, int >	LinkPairKeyToIndexMap
typedef std::map< std::string, int >	NameToIndexMap
Private Member Functions
void	updateRangeSensor (RangeSensor *sensor)
void	updateRangeSensors ()
Private Attributes
BodyToIndexMap	bodyToIndexMap
Vector3	g
bool	isEulerMethod
LinkPairKeyToIndexMap	linkPairKeyToIndexMap
NameToIndexMap	nameToBodyIndexMap
int	numRegisteredLinkPairs

Detailed Description

Definition at line 34 of file hrplib/hrpModel/World.h.

Member Typedef Documentation

typedef std::map<BodyPtr, int> hrp::WorldBase::BodyToIndexMap [private]

Definition at line 185 of file hrplib/hrpModel/World.h.

typedef std::map<LinkPairKey, int> hrp::WorldBase::LinkPairKeyToIndexMap [private]

Definition at line 193 of file hrplib/hrpModel/World.h.

typedef std::map<std::string, int> hrp::WorldBase::NameToIndexMap [private]

Definition at line 182 of file hrplib/hrpModel/World.h.

Constructor & Destructor Documentation

WorldBase::WorldBase ( )

Definition at line 30 of file hrplib/hrpModel/World.cpp.

WorldBase::~WorldBase ( ) [virtual]

Definition at line 43 of file hrplib/hrpModel/World.cpp.

Member Function Documentation

int WorldBase::addBody ( BodyPtr body )

add body to this world

Parameters:

body

Returns:: index of the body

Note:: This must be called before initialize() is called.

Definition at line 153 of file hrplib/hrpModel/World.cpp.

BodyPtr WorldBase::body ( int index )

get body by index

Parameters:

index of the body

Returns:: body

Definition at line 56 of file hrplib/hrpModel/World.cpp.

BodyPtr WorldBase::body ( const std::string & name )

get body by name

Parameters:

name	of the body

Returns:: body

Definition at line 65 of file hrplib/hrpModel/World.cpp.

int WorldBase::bodyIndex ( const std::string & name )

get index of body by name

Parameters:

name	of the body

Returns:: index of the body

Definition at line 49 of file hrplib/hrpModel/World.cpp.

void WorldBase::calcNextState ( ) [virtual]

compute forward dynamics and update current state

Definition at line 135 of file hrplib/hrpModel/World.cpp.

void WorldBase::clearBodies ( )

clear bodies in this world

Definition at line 166 of file hrplib/hrpModel/World.cpp.

void WorldBase::clearCollisionPairs ( )

clear collision pairs

Definition at line 173 of file hrplib/hrpModel/World.cpp.

double hrp::WorldBase::currentTime ( void ) const [inline]

get current time

Returns:: current time[s]

Definition at line 116 of file hrplib/hrpModel/World.h.

void WorldBase::enableSensors ( bool on )

enable/disable sensor simulation

Parameters:

on	true to enable, false to disable

Note:: This must be called before initialize() is called.

Definition at line 93 of file hrplib/hrpModel/World.cpp.

ForwardDynamicsPtr hrp::WorldBase::forwardDynamics ( int index ) [inline]

get forward dynamics computation method for body

Parameters:

index index of the body

Returns:: forward dynamics computation method

Definition at line 65 of file hrplib/hrpModel/World.h.

const Vector3& hrp::WorldBase::getGravityAcceleration ( ) [inline]

get gravity acceleration

Returns:: gravity accleration

Definition at line 128 of file hrplib/hrpModel/World.h.

std::pair< int, bool > WorldBase::getIndexOfLinkPairs	(	Link *	link1,
		Link *	link2
	)

get index of link pairs

Parameters:

link1	link1
link2	link2

Returns:: pair of index and flag. The flag is true if the pair was already registered, false othewise.

Definition at line 192 of file hrplib/hrpModel/World.cpp.

void WorldBase::initialize ( void ) [virtual]

initialize this world. This must be called after all bodies are registered.

Reimplemented in hrp::World< TConstraintForceSolver >, hrp::World< hrp::ConstraintForceSolver >, and ODE_World.

Definition at line 99 of file hrplib/hrpModel/World.cpp.

unsigned int hrp::WorldBase::numBodies ( ) [inline]

get the number of bodies in this world

Returns:: the number of bodies

Definition at line 44 of file hrplib/hrpModel/World.h.

void WorldBase::setCurrentTime ( double tm )

set current time

Parameters:

tm	current time[s]

Definition at line 81 of file hrplib/hrpModel/World.cpp.

void WorldBase::setEulerMethod ( )

choose euler method for integration

Definition at line 180 of file hrplib/hrpModel/World.cpp.

void WorldBase::setGravityAcceleration ( const Vector3 & g )

set gravity acceleration

Parameters:

g	gravity acceleration[m/s^2]

Definition at line 87 of file hrplib/hrpModel/World.cpp.

void WorldBase::setRungeKuttaMethod ( )

choose runge-kutta method for integration

Definition at line 186 of file hrplib/hrpModel/World.cpp.

void WorldBase::setTimeStep ( double dt )

set time step

Parameters:

dt	time step[s]

Definition at line 75 of file hrplib/hrpModel/World.cpp.

double hrp::WorldBase::timeStep ( void ) const [inline]

get time step

Returns:: time step[s]

Definition at line 104 of file hrplib/hrpModel/World.h.

void WorldBase::updateRangeSensor ( RangeSensor * sensor ) [private]

Definition at line 248 of file hrplib/hrpModel/World.cpp.

void WorldBase::updateRangeSensors ( ) [private]

Definition at line 234 of file hrplib/hrpModel/World.cpp.

Member Data Documentation

std::vector<BodyInfo> hrp::WorldBase::bodyInfoArray [protected]

Definition at line 174 of file hrplib/hrpModel/World.h.

BodyToIndexMap hrp::WorldBase::bodyToIndexMap [private]

Definition at line 186 of file hrplib/hrpModel/World.h.

double hrp::WorldBase::currentTime_ [protected]

Definition at line 167 of file hrplib/hrpModel/World.h.

Vector3 hrp::WorldBase::g [private]

Definition at line 198 of file hrplib/hrpModel/World.h.

bool hrp::WorldBase::isEulerMethod [private]

Definition at line 200 of file hrplib/hrpModel/World.h.

LinkPairKeyToIndexMap hrp::WorldBase::linkPairKeyToIndexMap [private]

Definition at line 194 of file hrplib/hrpModel/World.h.

NameToIndexMap hrp::WorldBase::nameToBodyIndexMap [private]

Definition at line 183 of file hrplib/hrpModel/World.h.

int hrp::WorldBase::numRegisteredLinkPairs [private]

Definition at line 196 of file hrplib/hrpModel/World.h.

bool hrp::WorldBase::sensorsAreEnabled [protected]

Definition at line 176 of file hrplib/hrpModel/World.h.

double hrp::WorldBase::timeStep_ [protected]

Definition at line 168 of file hrplib/hrpModel/World.h.

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

Classes

Public Member Functions

Protected Attributes

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation