, including all inherited members.
| addCollisionCheckLinkPair(int bodyIndex1, Link *link1, int bodyIndex2, Link *link2, double muStatic, double muDynamic, double culling_thresh, double restitution, double epsilon) | hrp::CFSImpl | |
| addConstraintForceToLink(LinkPair *linkPair, int ipair) | hrp::CFSImpl | |
| addConstraintForceToLinks() | hrp::CFSImpl | |
| addExtraJoint(int bodyIndex1, Link *link1, int bodyIndex2, Link *link2, const double *link1LocalPos, const double *link2LocalPos, const short jointType, const double *jointAxis) | hrp::CFSImpl | |
| allowedPenetrationDepth | hrp::CFSImpl | |
| an0 | hrp::CFSImpl | |
| areThereImpacts | hrp::CFSImpl | |
| at0 | hrp::CFSImpl | |
| b | hrp::CFSImpl | |
| bodiesData | hrp::CFSImpl | |
| calcABMForceElementsWithTestForce(BodyData &bodyData, Link *linkToApplyForce, const Vector3 &f, const Vector3 &tau) | hrp::CFSImpl | |
| calcAccelsABM(BodyData &bodyData, int constraintIndex) | hrp::CFSImpl | |
| calcAccelsMM(BodyData &bodyData, int constraintIndex) | hrp::CFSImpl | |
| CFSImpl(WorldBase &world) | hrp::CFSImpl | |
| checkLCPResult(rmdmatrix &M, dvector &b, dvector &x) | hrp::CFSImpl | |
| checkMCPResult(rmdmatrix &M, dvector &b, dvector &x) | hrp::CFSImpl | |
| clearExternalForces() | hrp::CFSImpl | [inline] |
| clearSingularPointConstraintsOfClosedLoopConnections() | hrp::CFSImpl | |
| collisionCheckLinkPairs | hrp::CFSImpl | |
| constrainedLinkPairs | hrp::CFSImpl | |
| ConstraintPointArray typedef | hrp::CFSImpl | |
| contactIndexToMu | hrp::CFSImpl | |
| copySymmetricElementsOfAccelerationMatrix(Eigen::Block< rmdmatrix > &Knn, Eigen::Block< rmdmatrix > &Ktn, Eigen::Block< rmdmatrix > &Knt, Eigen::Block< rmdmatrix > &Ktt) | hrp::CFSImpl | |
| debugPutMatrix(const TMatrix &M, const char *name) | hrp::CFSImpl | [inline] |
| debugPutVector(const TVector &M, const char *name) | hrp::CFSImpl | [inline] |
| extractRelAccelsFromLinkPairCase1(Eigen::Block< rmdmatrix > &Kxn, Eigen::Block< rmdmatrix > &Kxt, LinkPair &linkPair, int testForceIndex, int constraintIndex) | hrp::CFSImpl | |
| extractRelAccelsFromLinkPairCase2(Eigen::Block< rmdmatrix > &Kxn, Eigen::Block< rmdmatrix > &Kxt, LinkPair &linkPair, int iTestForce, int iDefault, int testForceIndex, int constraintIndex) | hrp::CFSImpl | |
| extractRelAccelsFromLinkPairCase3(Eigen::Block< rmdmatrix > &Kxn, Eigen::Block< rmdmatrix > &Kxt, LinkPair &linkPair, int testForceIndex, int constraintIndex) | hrp::CFSImpl | |
| extractRelAccelsOfConstraintPoints(Eigen::Block< rmdmatrix > &Kxn, Eigen::Block< rmdmatrix > &Kxt, int testForceIndex, int constraintIndex) | hrp::CFSImpl | |
| ExtraJointLinkPairPtr typedef | hrp::CFSImpl | |
| extraJointLinkPairs | hrp::CFSImpl | |
| frictionIndexToContactIndex | hrp::CFSImpl | |
| gaussSeidelMaxRelError | hrp::CFSImpl | |
| globalNumConstraintVectors | hrp::CFSImpl | |
| globalNumContactNormalVectors | hrp::CFSImpl | |
| globalNumFrictionVectors | hrp::CFSImpl | |
| initABMForceElementsWithNoExtForce(BodyData &bodyData) | hrp::CFSImpl | |
| initBody(BodyPtr body, BodyData &bodyData) | hrp::CFSImpl | |
| initExtraJoints(int bodyIndex) | hrp::CFSImpl | |
| initialize(void) | hrp::CFSImpl | |
| initMatrices() | hrp::CFSImpl | |
| isConstraintForceOutputMode | hrp::CFSImpl | |
| LinkDataArray typedef | hrp::CFSImpl | |
| LinkPairArray typedef | hrp::CFSImpl | |
| LinkPairPtr typedef | hrp::CFSImpl | |
| maxNumGaussSeidelIteration | hrp::CFSImpl | |
| mcpHi | hrp::CFSImpl | |
| Mlcp | hrp::CFSImpl | |
| negativeVelocityRatioForPenetration | hrp::CFSImpl | |
| numGaussSeidelInitialIteration | hrp::CFSImpl | |
| numGaussSeidelTotalCalls | hrp::CFSImpl | |
| numGaussSeidelTotalLoops | hrp::CFSImpl | |
| numGaussSeidelTotalLoopsMax | hrp::CFSImpl | |
| numUnconverged | hrp::CFSImpl | |
| os | hrp::CFSImpl | |
| PI | hrp::CFSImpl | [static] |
| PI_2 | hrp::CFSImpl | [static] |
| prevGlobalNumConstraintVectors | hrp::CFSImpl | |
| prevGlobalNumFrictionVectors | hrp::CFSImpl | |
| putContactPoints() | hrp::CFSImpl | |
| putMatrix(TMatrix &M, const char *name) | hrp::CFSImpl | [inline] |
| putVector(const TVector &M, const char *name) | hrp::CFSImpl | [inline] |
| randomAngle | hrp::CFSImpl | |
| rmdmatrix typedef | hrp::CFSImpl | |
| setAccelCalcSkipInformation() | hrp::CFSImpl | |
| setAccelerationMatrix() | hrp::CFSImpl | |
| setConstantVectorAndMuBlock() | hrp::CFSImpl | |
| setConstraintPoints(CollisionSequence &collisions) | hrp::CFSImpl | |
| setContactConstraintPoints(LinkPair &linkPair, CollisionPointSequence &collisionPoints) | hrp::CFSImpl | |
| setDefaultAccelerationVector() | hrp::CFSImpl | |
| setExtraJointConstraintPoints(ExtraJointLinkPairPtr &linkPair) | hrp::CFSImpl | |
| setFrictionVectors(ConstraintPoint &constraintPoint) | hrp::CFSImpl | |
| solution | hrp::CFSImpl | |
| solve(CollisionSequence &corbaCollisionSequence) | hrp::CFSImpl | |
| solveImpactConstraints() | hrp::CFSImpl | |
| solveMCPByProjectedGaussSeidel(const rmdmatrix &M, const dvector &b, dvector &x) | hrp::CFSImpl | |
| solveMCPByProjectedGaussSeidelInitial(const rmdmatrix &M, const dvector &b, dvector &x, const int numIteration) | hrp::CFSImpl | |
| solveMCPByProjectedGaussSeidelMain(const rmdmatrix &M, const dvector &b, dvector &x, const int numIteration) | hrp::CFSImpl | |
| useBuiltinCollisionDetector | hrp::CFSImpl | |
| world | hrp::CFSImpl | |
| ~CFSImpl() | hrp::CFSImpl | |