pSim Class Reference

Main class for forward dynamics computation. More...

#include <psim.h>

Inheritance diagram for pSim:

List of all members.

Public Member Functions
int	AutoSchedule (int max_procs)
	Automatic scheduling for max_procs processors.
virtual void	Clear ()
int	ConstraintForces (fVec &cf)
	Extract the constraint forces.
void	DumpSchedule (ostream &ost)
	Dump the schedule information to ost.
void	GetPJoint (Joint *_joint, pJoint *_pjoints[2])
int	NumLeaves ()
	pSim ()
	Default constructor.
int	Schedule ()
	Creates default schedule, which is optimized for serial computation.
int	Schedule (Joint **joints)
	Creates a schedule that assembles the chain in the specified order of joints.
int	ScheduleDepth ()
int	TotalCost ()
	Approximate indicators of total computational cost.
int	Update ()
	Compute joint accelerations.
int	Update (double timestep, std::vector< class SDContactPair * > &sdContactPairs)
	Compute joint accelerations and contact forces.
	~pSim ()
Protected Member Functions
virtual int	clear_contact ()
virtual int	clear_data ()
	Clear arrays only; don't delete joints.
virtual int	init (SceneGraph *sg)
	Initialize the parameters.
int	init_contact ()
int	myinit ()
Private Member Functions
int	build_subchain_tree (int _n_joints, Joint **joints, subchain_list &buf)
void	build_subchain_tree (Joint *cur_joint, subchain_list &buf)
void	calc_consts ()
void	calc_dvel ()
void	col_disassembly ()
int	contact_vjoint_index (Joint *_jnt)
pSubChain *	default_schedule (pSubChain *p, Joint *j)
void	default_schedule_virtual (Joint *j)
void	disassembly ()
int	in_subchain (pSubChain *sc, pLink *pl)
void	setup_pjoint (Joint *j)
void	setup_pjoint_virtual (Joint *j)
void	update_collision ()
void	update_position ()
void	update_velocity ()
Private Attributes
std::vector< fVec3 >	all_jdot_r
std::vector< fVec3 >	all_jdot_v
std::vector< fMat >	all_Jr
std::vector< fMat >	all_Jv
joint_list	all_vjoints
fVec3	cone_dir [N_FRIC_CONE_DIV]
std::vector< fVec3 >	contact_relvels
joint_list	contact_vjoints
std::vector< double >	fric_coefs
JointInfo *	joint_info
pSubChain *	subchains
Friends
class	pJoint
class	pLink
class	pSubChain

---

Detailed Description

Main class for forward dynamics computation.

Definition at line 446 of file psim.h.

---

Constructor & Destructor Documentation

pSim::pSim

(

)

[inline]

Default constructor.

Default constructor.

Parameters:

_rank

Rank of the process on which the instance is generated (only for parallel processing).

Definition at line 461 of file psim.h.

pSim::~pSim

(

)

[inline]

Definition at line 482 of file psim.h.

---

Member Function Documentation

int pSim::AutoSchedule

(

int

max_procs

)

Automatic scheduling for max_procs processors.

Definition at line 765 of file schedule.cpp.

int pSim::build_subchain_tree	(	int	_n_joints,
		Joint **	joints,
		subchain_list &	buf
	)		[private]

Definition at line 1352 of file schedule.cpp.

void pSim::build_subchain_tree	(	Joint *	cur_joint,
		subchain_list &	buf
	)		[private]

Definition at line 1363 of file schedule.cpp.

void pSim::calc_consts

(

)

[private]

Definition at line 286 of file psim.cpp.

void pSim::calc_dvel

(

)

[private]

Definition at line 574 of file update.cpp.

void pSim::Clear

(

)

[virtual]

Clear

Reimplemented from Chain.

Definition at line 87 of file psim.cpp.

int pSim::clear_contact

(

)

[protected, virtual]

Definition at line 123 of file psim.cpp.

int pSim::clear_data

(

)

[protected, virtual]

Clear arrays only; don't delete joints.

Reimplemented from Chain.

Definition at line 105 of file psim.cpp.

void pSim::col_disassembly

(

)

[private]

Definition at line 676 of file update.cpp.

int pSim::ConstraintForces

(

fVec &

cf

)

Extract the constraint forces.

psim.cpp Create: Katsu Yamane, 04.02.23

Definition at line 17 of file psim.cpp.

int pSim::contact_vjoint_index

(

Joint *

_jnt

)

[inline, private]

Definition at line 589 of file psim.h.

pSubChain * pSim::default_schedule	(	pSubChain *	p,
		Joint *	j
	)		[private]

Definition at line 1072 of file schedule.cpp.

void pSim::default_schedule_virtual

(

Joint *

j

)

[private]

Definition at line 1117 of file schedule.cpp.

void pSim::disassembly

(

)

[private]

disassembly

Definition at line 1155 of file update.cpp.

void pSim::DumpSchedule

(

ostream &

ost

)

Dump the schedule information to ost.

Definition at line 336 of file psim.cpp.

void pSim::GetPJoint	(	Joint *	_joint,
		pJoint *	_pjoints[2]
	)		[inline]

Definition at line 544 of file psim.h.

int pSim::in_subchain	(	pSubChain *	sc,
		pLink *	pl
	)		[private]

Definition at line 1407 of file schedule.cpp.

int pSim::init

(

SceneGraph *

sg

)

[protected, virtual]

Initialize the parameters.

Reimplemented from Chain.

Definition at line 218 of file psim.cpp.

int pSim::init_contact

(

)

[protected]

Init

Definition at line 173 of file psim.cpp.

int pSim::myinit

(

)

[protected]

Definition at line 231 of file psim.cpp.

int pSim::NumLeaves

(

)

Definition at line 65 of file psim.cpp.

int pSim::Schedule

(

)

Creates default schedule, which is optimized for serial computation.

default schedule: most efficient for serial computation

Definition at line 1060 of file schedule.cpp.

int pSim::Schedule

(

Joint **

joints

)

Creates a schedule that assembles the chain in the specified order of joints.

manual schedule: specify the order

Definition at line 1336 of file schedule.cpp.

int pSim::ScheduleDepth

(

)

Definition at line 51 of file psim.cpp.

void pSim::setup_pjoint

(

Joint *

j

)

[private]

Definition at line 243 of file psim.cpp.

void pSim::setup_pjoint_virtual

(

Joint *

j

)

[private]

Definition at line 265 of file psim.cpp.

int pSim::TotalCost

(

)

Approximate indicators of total computational cost.

Definition at line 34 of file psim.cpp.

int pSim::Update

(

)

Compute joint accelerations.

Definition at line 40 of file update.cpp.

int pSim::Update	(	double	timestep,
		std::vector< class SDContactPair * > &	sdContactPairs
	)

Compute joint accelerations and contact forces.

Compute joint accelerations and contact forces. Contact forces are computed such that the relative velocity becomes zero after timestep [s].

Parameters:

[in]	timestep	Timestep of the integration.
[in]	sdContactPairs	Pointer to the ColInfo object containing the contact information.

void pSim::update_collision

(

)

[private]

collision

Definition at line 568 of file update.cpp.

void pSim::update_position

(

)

[private]

position-dependent

Definition at line 146 of file update.cpp.

void pSim::update_velocity

(

)

[private]

velocity-dependent

Definition at line 768 of file update.cpp.

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Friends And Related Function Documentation

friend class pJoint [friend]

Definition at line 449 of file psim.h.

friend class pLink [friend]

Definition at line 450 of file psim.h.

friend class pSubChain [friend]

Definition at line 451 of file psim.h.

---

Member Data Documentation

std::vector<fVec3> pSim::all_jdot_r [private]

Definition at line 585 of file psim.h.

std::vector<fVec3> pSim::all_jdot_v [private]

Definition at line 584 of file psim.h.

std::vector<fMat> pSim::all_Jr [private]

Definition at line 583 of file psim.h.

std::vector<fMat> pSim::all_Jv [private]

Definition at line 582 of file psim.h.

joint_list pSim::all_vjoints [private]

Definition at line 581 of file psim.h.

fVec3 pSim::cone_dir[N_FRIC_CONE_DIV] [private]

Definition at line 587 of file psim.h.

std::vector<fVec3> pSim::contact_relvels [private]

Definition at line 578 of file psim.h.

joint_list pSim::contact_vjoints [private]

Definition at line 577 of file psim.h.

std::vector<double> pSim::fric_coefs [private]

Definition at line 579 of file psim.h.

JointInfo* pSim::joint_info [private]

Definition at line 602 of file psim.h.

pSubChain* pSim::subchains [private]

Definition at line 603 of file psim.h.

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The documentation for this class was generated from the following files:

• psim.h
• psim.cpp
• schedule.cpp
• update.cpp