#include <World.h>

Classes
class	CharacterInfo
Public Member Functions
void	addCharacter (Joint *rjoint, const std::string &_name, OpenHRP::LinkInfoSequence_var links)
void	addCollisionCheckLinkPair (Joint jnt1, Joint jnt2, double staticFriction, double slipFriction, double epsilon)
int	addSensor (Joint *jnt, int sensorType, int id, const std::string name, const fVec3 &_localPos, const fMat33 &_localR)
void	calcCharacterJacobian (const char characterName, const char baseLink, const char *targetLink, fMat &J)
void	calcNextState (OpenHRP::CollisionSequence &corbaCollisionSequence)
pSim *	Chain ()
void	clearCollisionPairs ()
double	currentTime (void) const
void	enableSensors (bool on)
Sensor *	findSensor (const char sensorName, const char charName)
void	getAllCharacterData (const char *name, OpenHRP::DynamicsSimulator::LinkDataType type, OpenHRP::DblSequence_out &rdata)
void	getAllCharacterPositions (OpenHRP::CharacterPositionSequence &all_char_pos)
void	getAllSensorStates (OpenHRP::SensorStateSequence &all_sensor_states)
const fVec3 &	getGravityAcceleration ()
void	initialize ()
int	numCharacter ()
int	numJoints (int index)
int	numLinks (int index)
int	numSensors (int sensorType, const char *charName)
int	numSensors ()
Joint *	rootJoint (int index)
void	setAllCharacterData (const char *name, OpenHRP::DynamicsSimulator::LinkDataType type, const OpenHRP::DblSequence &wdata)
void	setCurrentTime (double)
void	setEulerMethod ()
void	setGravityAcceleration (const fVec3 &g)
void	setRungeKuttaMethod ()
void	setTimeStep (double)
double	timeStep (void) const
	World ()
	~World ()
Protected Attributes
pSim *	chain
std::vector< CharacterInfo >	characters
std::vector< SDContactPair * >	contact_pairs
std::vector< Sensor * >	sensors
Private Member Functions
void	_get_all_character_data_sub (Joint *cur, int index, OpenHRP::DynamicsSimulator::LinkDataType type, OpenHRP::DblSequence_out &rdata)
void	_get_all_sensor_states_sub (Joint *cur, int &count, OpenHRP::SensorState &state)
void	_set_all_character_data_sub (Joint *cur, int index, OpenHRP::DynamicsSimulator::LinkDataType type, const OpenHRP::DblSequence &wdata)
void	update_accel_sensor (AccelSensor *as)
void	update_force_sensor (ForceSensor *fs)
void	update_rate_gyro_sensor (RateGyroSensor *rgs)
Private Attributes
double	currentTime_
fVec3	g
bool	isEulerMethod
int	numRegisteredLinkPairs
bool	sensorsAreEnabled
double	timeStep_

Detailed Description

Definition at line 33 of file server/UtDynamicsSimulator/World.h.

Constructor & Destructor Documentation

World::World ( )

Definition at line 68 of file server/UtDynamicsSimulator/World.cpp.

World::~World ( )

Definition at line 81 of file server/UtDynamicsSimulator/World.cpp.

Member Function Documentation

void World::_get_all_character_data_sub	(	Joint *	cur,
		int	index,
		OpenHRP::DynamicsSimulator::LinkDataType	type,
		OpenHRP::DblSequence_out &	rdata
	)		`[private]`

Definition at line 378 of file server/UtDynamicsSimulator/World.cpp.

void World::_get_all_sensor_states_sub	(	Joint *	cur,
		int &	count,
		OpenHRP::SensorState &	state
	)		`[private]`

void World::_set_all_character_data_sub	(	Joint *	cur,
		int	index,
		OpenHRP::DynamicsSimulator::LinkDataType	type,
		const OpenHRP::DblSequence &	wdata
	)		`[private]`