#include <ode/ode.h>
#include <hrpCorba/ModelLoader.hh>
#include <hrpModel/World.h>
#include <hrpModel/Body.h>
#include <hrpModel/ForwardDynamics.h>
#include <hrpUtil/Eigen4d.h>
#include <string>
#include <vector>
#include "ODE_Link.h"
Go to the source code of this file.
Classes | |
struct | ODE_World::LinkPair |
class | ODE_ForwardDynamics |
class | ODE_World |
Typedefs | |
typedef boost::shared_ptr < ODE_ForwardDynamics > | ODE_ForwardDynamicsPtr |
Functions | |
static void | ODE_collideCallback (void *data, dGeomID o1, dGeomID o2) |
Variables | |
static const dReal | CFM = 10e-6 |
static const int | COLLISION_MAX_POINT = 100 |
static const dReal | CONTACT_FDIR1_X = 0.0 |
static const dReal | CONTACT_FDIR1_Y = 0.0 |
static const dReal | CONTACT_FDIR1_Z = 0.0 |
static const dReal | CONTACT_MAX_CORRECTING_VEL = dInfinity |
static const dReal | CONTACT_SURFACE_LAYER = 0.0 |
static const dReal | ERP = 0.2 |
static const int | QUICKSTEP_NUM_ITERATIONS = 20 |
static const dReal | SURFACE_BOUNCE = 0.0 |
static const dReal | SURFACE_BOUNCE_VEL = 0.0 |
static const int | SURFACE_MODE |
static const dReal | SURFACE_MOTION1 = 0.0 |
static const dReal | SURFACE_MOTION2 = 0.0 |
static const dReal | SURFACE_MU = dInfinity |
static const dReal | SURFACE_MU2 = 0.0 |
static const dReal | SURFACE_SLIP1 = 0.0 |
static const dReal | SURFACE_SLIP2 = 0.0 |
static const dReal | SURFACE_SOFT_CFM = 0.0 |
static const dReal | SURFACE_SOFT_ERP = 0.0 |
static const bool | USE_QUICKSTEP = true |
typedef boost::shared_ptr<ODE_ForwardDynamics> ODE_ForwardDynamicsPtr |
Definition at line 148 of file ODE_World.h.
static void ODE_collideCallback | ( | void * | data, |
dGeomID | o1, | ||
dGeomID | o2 | ||
) | [static] |
Definition at line 205 of file ODE_World.cpp.
Definition at line 30 of file ODE_World.h.
const int COLLISION_MAX_POINT = 100 [static] |
Definition at line 36 of file ODE_World.h.
const dReal CONTACT_FDIR1_X = 0.0 [static] |
Definition at line 64 of file ODE_World.h.
const dReal CONTACT_FDIR1_Y = 0.0 [static] |
Definition at line 65 of file ODE_World.h.
const dReal CONTACT_FDIR1_Z = 0.0 [static] |
Definition at line 66 of file ODE_World.h.
const dReal CONTACT_MAX_CORRECTING_VEL = dInfinity [static] |
Definition at line 33 of file ODE_World.h.
const dReal CONTACT_SURFACE_LAYER = 0.0 [static] |
Definition at line 34 of file ODE_World.h.
Definition at line 32 of file ODE_World.h.
const int QUICKSTEP_NUM_ITERATIONS = 20 [static] |
Definition at line 25 of file ODE_World.h.
const dReal SURFACE_BOUNCE = 0.0 [static] |
Definition at line 56 of file ODE_World.h.
const dReal SURFACE_BOUNCE_VEL = 0.0 [static] |
Definition at line 57 of file ODE_World.h.
const int SURFACE_MODE [static] |
0 | dContactBounce
Definition at line 38 of file ODE_World.h.
const dReal SURFACE_MOTION1 = 0.0 [static] |
Definition at line 60 of file ODE_World.h.
const dReal SURFACE_MOTION2 = 0.0 [static] |
Definition at line 61 of file ODE_World.h.
const dReal SURFACE_MU = dInfinity [static] |
Definition at line 54 of file ODE_World.h.
const dReal SURFACE_MU2 = 0.0 [static] |
Definition at line 55 of file ODE_World.h.
const dReal SURFACE_SLIP1 = 0.0 [static] |
Definition at line 62 of file ODE_World.h.
const dReal SURFACE_SLIP2 = 0.0 [static] |
Definition at line 63 of file ODE_World.h.
const dReal SURFACE_SOFT_CFM = 0.0 [static] |
Definition at line 59 of file ODE_World.h.
const dReal SURFACE_SOFT_ERP = 0.0 [static] |
Definition at line 58 of file ODE_World.h.
const bool USE_QUICKSTEP = true [static] |
Definition at line 24 of file ODE_World.h.