psim.h File Reference

Forward dynamics computation based on Assembly-Disassembly Algorithm. More...

#include <chain.h>
#include <fMatrix3.h>
#include <list>
#include <vector>

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Classes
struct	JointInfo
class	pJoint
	Class for representing "handle"; two pJoint instances are attached to both sides of each joint. More...
class	pLink
	Class for representing a single link in a schedule tree. More...
class	pSim
	Main class for forward dynamics computation. More...
class	pSubChain
	Node for schedule tree; represents a partial chain. More...
Defines
#define	N_FRIC_CONE_DIV   8
	Number of vertices of the friction cone approximation.
Typedefs
typedef std::vector< Joint * >	joint_list
typedef std::vector< class pJoint * >	p_joint_list
typedef std::list< class pSubChain * >	subchain_list
Enumerations
enum	PSIM_AXIS {   PSIM_AXIS_NULL = -1, PSIM_AXIS_X, PSIM_AXIS_Y, PSIM_AXIS_Z,   PSIM_AXIS_RX, PSIM_AXIS_RY, PSIM_AXIS_RZ }

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Detailed Description

Forward dynamics computation based on Assembly-Disassembly Algorithm.

Author:

Katsu Yamane

Date:

02/23/2004

Definition in file psim.h.

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Define Documentation

#define N_FRIC_CONE_DIV   8

Number of vertices of the friction cone approximation.

Definition at line 33 of file psim.h.

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Typedef Documentation

typedef std::vector<Joint*> joint_list

Definition at line 29 of file psim.h.

typedef std::vector<class pJoint*> p_joint_list

Definition at line 30 of file psim.h.

typedef std::list<class pSubChain*> subchain_list

Definition at line 27 of file psim.h.

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Enumeration Type Documentation

enum PSIM_AXIS

enum for defining the joint axis IMPORTANT NOTICE: The axis of 1DOF joints should be parallel to x, y, or z axis of the parent joint. Other axis is not supported.

Enumerator:

PSIM_AXIS_NULL
PSIM_AXIS_X
PSIM_AXIS_Y
PSIM_AXIS_Z
PSIM_AXIS_RX
PSIM_AXIS_RY
PSIM_AXIS_RZ

Definition at line 57 of file psim.h.