Public Member Functions | Private Member Functions | Private Attributes | Friends
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
fVecacc_temp
PSIM_AXIS axis
pSubChainchildren [2]
fVec colf_temp
intconst_index
fVec da6
fVec f_temp
fMat Gamma
fMat Gamma_inv
fMat IW
intjoint_index
fMat ** Lambda
int last_index [2]
Jointlast_joint
pJointlast_pjoints [2]
pLink ** links
int n_const
int n_dof
int n_links
int n_outer_joints
pJoint ** outer_joints
intouter_joints_index
intouter_joints_origin
fMat P
pSubChainparent
pSimsim
fVec tau
fVecvel_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.

Definition at line 982 of file update.cpp.

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.

Definition at line 634 of file update.cpp.

Definition at line 625 of file update.cpp.

Definition at line 199 of file update.cpp.

Definition at line 313 of file update.cpp.

Definition at line 268 of file update.cpp.

Definition at line 378 of file update_lcp.cpp.

Definition at line 681 of file update.cpp.

Definition at line 693 of file update.cpp.

Definition at line 1160 of file update.cpp.

Definition at line 1283 of file update.cpp.

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.

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

Definition at line 396 of file psim.h.

Definition at line 393 of file psim.h.

Definition at line 345 of file psim.h.

Definition at line 342 of file psim.h.

Definition at line 408 of file psim.h.

Definition at line 357 of file psim.h.

fVec pSubChain::da6 [private]

Definition at line 391 of file psim.h.

Definition at line 395 of file psim.h.

Definition at line 386 of file psim.h.

Definition at line 387 of file psim.h.

fMat pSubChain::IW [private]

Definition at line 392 of file psim.h.

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.

Definition at line 344 of file psim.h.

Definition at line 343 of file psim.h.

pLink** pSubChain::links [private]

Definition at line 352 of file psim.h.

Definition at line 356 of file psim.h.

int pSubChain::n_dof [private]

Definition at line 355 of file psim.h.

Definition at line 353 of file psim.h.

Definition at line 351 of file psim.h.

Definition at line 348 of file psim.h.

Definition at line 350 of file psim.h.

Definition at line 349 of file psim.h.

fMat pSubChain::P [private]

Definition at line 384 of file psim.h.

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.

Definition at line 407 of file psim.h.

fMat pSubChain::W [private]

Definition at line 392 of file psim.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 03:30:21