#include <ConstraintForceSolver.h>
Public Member Functions | |
| bool | addCollisionCheckLinkPair (int bodyIndex1, Link *link1, int bodyIndex2, Link *link2, double muStatic, double muDynamic, double culling_thresh, double restitution, double epsilon) |
| bool | addExtraJoint (int bodyIndex1, Link *link1, int bodyIndex2, Link *link2, const double *link1LocalPos, const double *link2LocalPos, const short jointType, const double *jointAxis) |
| void | clearCollisionCheckLinkPairs () |
| void | clearExternalForces () |
| ConstraintForceSolver (WorldBase &world) | |
| void | enableConstraintForceOutput (bool on) |
| double | getAllowedPenetrationDepth () const |
| void | initialize (void) |
| void | setAllowedPenetrationDepth (double dVal) |
| void | setGaussSeidelParameters (int maxNumIteration, int numInitialIteration, double maxRelError) |
| void | setNegativeVelocityRatioForPenetration (double ratio) |
| void | solve (OpenHRP::CollisionSequence &corbaCollisionSequence) |
| void | useBuiltinCollisionDetector (bool on) |
| ~ConstraintForceSolver () | |
Private Attributes | |
| CFSImpl * | impl |
Definition at line 29 of file ConstraintForceSolver.h.
| ConstraintForceSolver::ConstraintForceSolver | ( | WorldBase & | world | ) |
Definition at line 2172 of file ConstraintForceSolver.cpp.
| ConstraintForceSolver::~ConstraintForceSolver | ( | ) |
Definition at line 2178 of file ConstraintForceSolver.cpp.
| bool ConstraintForceSolver::addCollisionCheckLinkPair | ( | int | bodyIndex1, |
| Link * | link1, | ||
| int | bodyIndex2, | ||
| Link * | link2, | ||
| double | muStatic, | ||
| double | muDynamic, | ||
| double | culling_thresh, | ||
| double | restitution, | ||
| double | epsilon | ||
| ) |
Definition at line 2185 of file ConstraintForceSolver.cpp.
| bool ConstraintForceSolver::addExtraJoint | ( | int | bodyIndex1, |
| Link * | link1, | ||
| int | bodyIndex2, | ||
| Link * | link2, | ||
| const double * | link1LocalPos, | ||
| const double * | link2LocalPos, | ||
| const short | jointType, | ||
| const double * | jointAxis | ||
| ) |
Definition at line 2197 of file ConstraintForceSolver.cpp.
| void ConstraintForceSolver::clearCollisionCheckLinkPairs | ( | ) |
Definition at line 2191 of file ConstraintForceSolver.cpp.
| void ConstraintForceSolver::clearExternalForces | ( | ) |
Definition at line 2241 of file ConstraintForceSolver.cpp.
| void ConstraintForceSolver::enableConstraintForceOutput | ( | bool | on | ) |
Definition at line 2211 of file ConstraintForceSolver.cpp.
| double ConstraintForceSolver::getAllowedPenetrationDepth | ( | ) | const |
Definition at line 2251 of file ConstraintForceSolver.cpp.
Definition at line 2229 of file ConstraintForceSolver.cpp.
| void ConstraintForceSolver::setAllowedPenetrationDepth | ( | double | dVal | ) |
Definition at line 2246 of file ConstraintForceSolver.cpp.
| void ConstraintForceSolver::setGaussSeidelParameters | ( | int | maxNumIteration, |
| int | numInitialIteration, | ||
| double | maxRelError | ||
| ) |
Definition at line 2203 of file ConstraintForceSolver.cpp.
| void ConstraintForceSolver::setNegativeVelocityRatioForPenetration | ( | double | ratio | ) |
Definition at line 2222 of file ConstraintForceSolver.cpp.
| void ConstraintForceSolver::solve | ( | OpenHRP::CollisionSequence & | corbaCollisionSequence | ) |
Definition at line 2235 of file ConstraintForceSolver.cpp.
| void ConstraintForceSolver::useBuiltinCollisionDetector | ( | bool | on | ) |
Definition at line 2217 of file ConstraintForceSolver.cpp.
|
private |
Definition at line 31 of file ConstraintForceSolver.h.