Classes |
| struct | ExtraJoint |
Public Types |
| enum | ExtraJointType { EJ_XYZ,
EJ_XY,
EJ_Z
} |
Public Member Functions |
| void | addSensor (Sensor *sensor, int sensorType, int id) |
| | Body () |
| | Body (const Body &org) |
| void | calcAngularMomentumJacobian (Link *base, dmatrix &H) |
| | compute Angular Momentum Jacobian around CoM of base
|
| Vector3 | calcCM () |
| void | calcCMJacobian (Link *base, dmatrix &J) |
| | compute CoM Jacobian
|
| void | calcForwardKinematics (bool calcVelocity=false, bool calcAcceleration=false) |
| void | calcInverseDynamics (Link *link, Vector3 &out_f, Vector3 &out_tau) |
| void | calcMassMatrix (dmatrix &out_M) |
| double | calcTotalMass () |
| void | calcTotalMomentum (Vector3 &out_P, Vector3 &out_L) |
| void | calcTotalMomentumFromJacobian (Vector3 &out_P, Vector3 &out_L) |
| void | clearExternalForces () |
| void | clearSensorValues () |
| Light * | createLight (Link *link, int lightType, const std::string &name) |
| Sensor * | createSensor (Link *link, int sensorType, int id, const std::string &name) |
| void | getDefaultRootPosition (Vector3 &out_p, Matrix33 &out_R) |
| JointPathPtr | getJointPath (Link *baseLink, Link *targetLink) |
| void | initializeConfiguration () |
| bool | installCustomizer () |
| bool | installCustomizer (BodyCustomizerInterface *customizerInterface) |
| bool | isStaticModel () |
| Link * | joint (int id) const |
| const std::vector< Link * > & | joints () const |
| Light * | light (const std::string &name) |
| Link * | link (int index) const |
| Link * | link (const std::string &name) const |
| const LinkTraverse & | links () const |
| const LinkTraverse & | linkTraverse () const |
| const std::string & | modelName () |
| const std::string & | name () |
| unsigned int | numJoints () const |
| unsigned int | numLinks () const |
| unsigned int | numSensors (int sensorType) const |
| unsigned int | numSensorTypes () const |
| void | putInformation (std::ostream &out) |
| Link * | rootLink () const |
| Sensor * | sensor (int sensorType, int sensorId) const |
| template<class TSensor > |
| TSensor * | sensor (int id) const |
| template<class TSensor > |
| TSensor * | sensor (const std::string &name) const |
| void | setColumnOfMassMatrix (dmatrix &M, int column) |
| void | setDefaultRootPosition (const Vector3 &p, const Matrix33 &R) |
| void | setModelName (const std::string &name) |
| void | setName (const std::string &name) |
| void | setRootLink (Link *link) |
| void | setVirtualJointForces () |
| double | totalMass () const |
| void | updateLinkColdetModelPositions () |
| void | updateLinkTree () |
| virtual | ~Body () |
Static Public Member Functions |
| static BodyInterface * | bodyInterface () |
Public Attributes |
| std::vector< ExtraJoint > | extraJoints |
Private Types |
| typedef std::vector< Link * > | LinkArray |
typedef std::map< std::string,
Light * > | NameToLightMap |
typedef std::map< std::string,
Link * > | NameToLinkMap |
typedef std::map< std::string,
Sensor * > | NameToSensorMap |
| typedef std::vector< Sensor * > | SensorArray |
Private Member Functions |
| Link * | createEmptyJoint (int jointId) |
| void | initialize () |
| void | setVirtualJointForcesSub () |
Private Attributes |
| std::vector< SensorArray > | allSensors |
| BodyHandle | bodyHandle |
| BodyHandleEntity | bodyHandleEntity |
| BodyCustomizerHandle | customizerHandle |
| BodyCustomizerInterface * | customizerInterface |
| Matrix33 | defaultRootAttitude |
| Vector3 | defaultRootPosition |
| bool | isStaticModel_ |
| LinkArray | jointIdToLinkArray |
| LinkTraverse | linkTraverse_ |
| std::string | modelName_ |
| std::string | name_ |
| NameToLightMap | nameToLightMap |
| NameToLinkMap | nameToLinkMap |
| NameToSensorMap | nameToSensorMap |
| Link * | rootLink_ |
| double | totalMass_ |
Friends |
| class | CustomizedJointPath |
Definition at line 44 of file Body.h.
