pSubChain Class Reference

Node for schedule tree; represents a partial chain. More...

#include <psim.h>

List of all members.

Public Member Functions
	pSubChain (pSim *_sim, pSubChain *_p, pJoint *_p0, pJoint *_p1)
	pSubChain (pSim *_sim, pSubChain *_p, pLink *_pl)
	~pSubChain ()
Private Member Functions
void	calc_acc ()
void	calc_acc_body ()
void	calc_acc_leaf ()
int	calc_contact_force (double timestep)
void	calc_dvel ()
void	calc_dvel_body ()
void	calc_dvel_leaf ()
void	calc_inertia ()
void	calc_inertia_body ()
void	calc_inertia_leaf ()
void	clear_f_final ()
void	col_disassembly ()
void	col_disassembly_body ()
void	disassembly ()
void	disassembly_body ()
void	disassembly_leaf ()
void	dump (ostream &ost)
int	get_outer_index (pJoint *pj)
void	init ()
int	num_leaves ()
int	schedule_depth ()
int	total_cost ()
Private Attributes
fVec	acc_final
fVec *	acc_temp
PSIM_AXIS	axis
pSubChain *	children [2]
fVec	colf_temp
int *	const_index
fVec	da6
fVec	f_temp
fMat	Gamma
fMat	Gamma_inv
fMat	IW
int *	joint_index
fMat **	Lambda
int	last_index [2]
Joint *	last_joint
pJoint *	last_pjoints [2]
pLink **	links
int	n_const
int	n_dof
int	n_links
int	n_outer_joints
pJoint **	outer_joints
int *	outer_joints_index
int *	outer_joints_origin
fMat	P
pSubChain *	parent
pSim *	sim
fVec	tau
fVec *	vel_temp
fMat	W
Friends
class	pJoint
class	pLink
class	pSim

---

Detailed Description

Node for schedule tree; represents a partial chain.

Definition at line 190 of file psim.h.

---

Constructor & Destructor Documentation

pSubChain::pSubChain	(	pSim *	_sim,
		pSubChain *	_p,
		pJoint *	_p0,
		pJoint *	_p1
	)		[inline]

Definition at line 196 of file psim.h.

pSubChain::pSubChain	(	pSim *	_sim,
		pSubChain *	_p,
		pLink *	_pl
	)		[inline]

Definition at line 277 of file psim.h.

pSubChain::~pSubChain

(

)

[inline]

Definition at line 306 of file psim.h.

---

Member Function Documentation

void pSubChain::calc_acc

(

)

[private]

Definition at line 887 of file update.cpp.

void pSubChain::calc_acc_body

(

)

[private]

Definition at line 982 of file update.cpp.

void pSubChain::calc_acc_leaf

(

)

[private]

Definition at line 952 of file update.cpp.

int pSubChain::calc_contact_force

(

double

timestep

)

[private]

Definition at line 386 of file update_lcp.cpp.

void pSubChain::calc_dvel

(

)

[private]

Definition at line 609 of file update.cpp.

void pSubChain::calc_dvel_body

(

)

[private]

Definition at line 634 of file update.cpp.

void pSubChain::calc_dvel_leaf

(

)

[private]

Definition at line 625 of file update.cpp.

void pSubChain::calc_inertia

(

)

[private]

Definition at line 199 of file update.cpp.

void pSubChain::calc_inertia_body

(

)

[private]

Definition at line 313 of file update.cpp.

void pSubChain::calc_inertia_leaf

(

)

[private]

Definition at line 268 of file update.cpp.

void pSubChain::clear_f_final

(

)

[private]

Definition at line 378 of file update_lcp.cpp.

void pSubChain::col_disassembly

(

)

[private]

Definition at line 681 of file update.cpp.

void pSubChain::col_disassembly_body

(

)

[private]

Definition at line 693 of file update.cpp.

void pSubChain::disassembly

(

)

[private]

Definition at line 1160 of file update.cpp.

void pSubChain::disassembly_body

(

)

[private]

Definition at line 1283 of file update.cpp.

void pSubChain::disassembly_leaf

(

)

[private]

Definition at line 1224 of file update.cpp.

void pSubChain::dump

(

ostream &

ost

)

[private]

Definition at line 341 of file psim.cpp.

int pSubChain::get_outer_index

(

pJoint *

pj

)

[inline, private]

Definition at line 327 of file psim.h.

void pSubChain::init

(

)

[private]

Definition at line 1140 of file schedule.cpp.

int pSubChain::num_leaves

(

)

[private]

Definition at line 70 of file psim.cpp.

int pSubChain::schedule_depth

(

)

[private]

Definition at line 56 of file psim.cpp.

int pSubChain::total_cost

(

)

[private]

Definition at line 39 of file psim.cpp.

---

Friends And Related Function Documentation

friend class pJoint [friend]

Definition at line 193 of file psim.h.

friend class pLink [friend]

Definition at line 194 of file psim.h.

friend class pSim [friend]

Definition at line 192 of file psim.h.

---

Member Data Documentation

fVec pSubChain::acc_final [private]

Definition at line 396 of file psim.h.

fVec* pSubChain::acc_temp [private]

Definition at line 393 of file psim.h.

PSIM_AXIS pSubChain::axis [private]

Definition at line 345 of file psim.h.

pSubChain* pSubChain::children[2] [private]

Definition at line 342 of file psim.h.

fVec pSubChain::colf_temp [private]

Definition at line 408 of file psim.h.

int* pSubChain::const_index [private]

Definition at line 357 of file psim.h.

fVec pSubChain::da6 [private]

Definition at line 391 of file psim.h.

fVec pSubChain::f_temp [private]

Definition at line 395 of file psim.h.

fMat pSubChain::Gamma [private]

Definition at line 386 of file psim.h.

fMat pSubChain::Gamma_inv [private]

Definition at line 387 of file psim.h.

fMat pSubChain::IW [private]

Definition at line 392 of file psim.h.

int* pSubChain::joint_index [private]

Definition at line 358 of file psim.h.

fMat** pSubChain::Lambda [private]

Definition at line 389 of file psim.h.

int pSubChain::last_index[2] [private]

Definition at line 346 of file psim.h.

Joint* pSubChain::last_joint [private]

Definition at line 344 of file psim.h.

pJoint* pSubChain::last_pjoints[2] [private]

Definition at line 343 of file psim.h.

pLink** pSubChain::links [private]

Definition at line 352 of file psim.h.

int pSubChain::n_const [private]

Definition at line 356 of file psim.h.

int pSubChain::n_dof [private]

Definition at line 355 of file psim.h.

int pSubChain::n_links [private]

Definition at line 353 of file psim.h.

int pSubChain::n_outer_joints [private]

Definition at line 351 of file psim.h.

pJoint** pSubChain::outer_joints [private]

Definition at line 348 of file psim.h.

int* pSubChain::outer_joints_index [private]

Definition at line 350 of file psim.h.

int* pSubChain::outer_joints_origin [private]

Definition at line 349 of file psim.h.

fMat pSubChain::P [private]

Definition at line 384 of file psim.h.

pSubChain* pSubChain::parent [private]

Definition at line 341 of file psim.h.

pSim* pSubChain::sim [private]

Definition at line 340 of file psim.h.

fVec pSubChain::tau [private]

Definition at line 394 of file psim.h.

fVec* pSubChain::vel_temp [private]

Definition at line 407 of file psim.h.

fMat pSubChain::W [private]

Definition at line 392 of file psim.h.

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

• psim.h
• psim.cpp
• schedule.cpp
• update.cpp
• update_lcp.cpp