Public Member Functions | Private Member Functions | Private Attributes | Friends | List of all members
pSubChain Class Reference

Node for schedule tree; represents a partial chain. More...

#include <psim.h>

Public Member Functions

 pSubChain (pSim *_sim, pSubChain *_p, pJoint *_p0, pJoint *_p1)
 
 pSubChain (pSim *_sim, pSubChain *_p, pLink *_pl)
 
 ~pSubChain ()
 

Private Member Functions

void calc_acc ()
 
void calc_acc_body ()
 
void calc_acc_leaf ()
 
int calc_contact_force (double timestep)
 
void calc_dvel ()
 
void calc_dvel_body ()
 
void calc_dvel_leaf ()
 
void calc_inertia ()
 
void calc_inertia_body ()
 
void calc_inertia_leaf ()
 
void clear_f_final ()
 
void col_disassembly ()
 
void col_disassembly_body ()
 
void disassembly ()
 
void disassembly_body ()
 
void disassembly_leaf ()
 
void dump (ostream &ost)
 
int get_outer_index (pJoint *pj)
 
void init ()
 
int num_leaves ()
 
int schedule_depth ()
 
int total_cost ()
 

Private Attributes

fVec acc_final
 
fVecacc_temp
 
PSIM_AXIS axis
 
pSubChainchildren [2]
 
fVec colf_temp
 
intconst_index
 
fVec da6
 
fVec f_temp
 
fMat Gamma
 
fMat Gamma_inv
 
fMat IW
 
intjoint_index
 
fMat ** Lambda
 
int last_index [2]
 
Jointlast_joint
 
pJointlast_pjoints [2]
 
pLink ** links
 
int n_const
 
int n_dof
 
int n_links
 
int n_outer_joints
 
pJoint ** outer_joints
 
intouter_joints_index
 
intouter_joints_origin
 
fMat P
 
pSubChainparent
 
pSimsim
 
fVec tau
 
fVecvel_temp
 
fMat W
 

Friends

class pJoint
 
class pLink
 
class pSim
 

Detailed Description

Node for schedule tree; represents a partial chain.

Definition at line 190 of file psim.h.

Constructor & Destructor Documentation

pSubChain::pSubChain ( pSim _sim,
pSubChain _p,
pJoint _p0,
pJoint _p1 
)
inline

Definition at line 196 of file psim.h.

pSubChain::pSubChain ( pSim _sim,
pSubChain _p,
pLink _pl 
)
inline

Definition at line 277 of file psim.h.

pSubChain::~pSubChain ( )
inline

Definition at line 306 of file psim.h.

Member Function Documentation

void pSubChain::calc_acc ( )
private

Definition at line 887 of file update.cpp.

void pSubChain::calc_acc_body ( )
private

Definition at line 982 of file update.cpp.

void pSubChain::calc_acc_leaf ( )
private

Definition at line 952 of file update.cpp.

int pSubChain::calc_contact_force ( double  timestep)
private

Definition at line 386 of file update_lcp.cpp.

void pSubChain::calc_dvel ( )
private

Definition at line 609 of file update.cpp.

void pSubChain::calc_dvel_body ( )
private

Definition at line 634 of file update.cpp.

void pSubChain::calc_dvel_leaf ( )
private

Definition at line 625 of file update.cpp.

void pSubChain::calc_inertia ( )
private

Definition at line 199 of file update.cpp.

void pSubChain::calc_inertia_body ( )
private

Definition at line 313 of file update.cpp.

void pSubChain::calc_inertia_leaf ( )
private

Definition at line 268 of file update.cpp.

void pSubChain::clear_f_final ( )
private

Definition at line 378 of file update_lcp.cpp.

void pSubChain::col_disassembly ( )
private

Definition at line 681 of file update.cpp.

void pSubChain::col_disassembly_body ( )
private

Definition at line 693 of file update.cpp.

void pSubChain::disassembly ( )
private

Definition at line 1160 of file update.cpp.

void pSubChain::disassembly_body ( )
private

Definition at line 1283 of file update.cpp.

void pSubChain::disassembly_leaf ( )
private

Definition at line 1224 of file update.cpp.

void pSubChain::dump ( ostream &  ost)
private

Definition at line 341 of file psim.cpp.

int pSubChain::get_outer_index ( pJoint pj)
inlineprivate

Definition at line 327 of file psim.h.

void pSubChain::init ( )
private

Definition at line 1140 of file schedule.cpp.

int pSubChain::num_leaves ( )
private

Definition at line 70 of file psim.cpp.

int pSubChain::schedule_depth ( )
private

Definition at line 56 of file psim.cpp.

int pSubChain::total_cost ( )
private

Definition at line 39 of file psim.cpp.

Friends And Related Function Documentation

friend class pJoint
friend

Definition at line 193 of file psim.h.

friend class pLink
friend

Definition at line 194 of file psim.h.

friend class pSim
friend

Definition at line 192 of file psim.h.

Member Data Documentation

fVec pSubChain::acc_final
private

Definition at line 396 of file psim.h.

fVec* pSubChain::acc_temp
private

Definition at line 393 of file psim.h.

PSIM_AXIS pSubChain::axis
private

Definition at line 345 of file psim.h.

pSubChain* pSubChain::children[2]
private

Definition at line 342 of file psim.h.

fVec pSubChain::colf_temp
private

Definition at line 408 of file psim.h.

int* pSubChain::const_index
private

Definition at line 357 of file psim.h.

fVec pSubChain::da6
private

Definition at line 391 of file psim.h.

fVec pSubChain::f_temp
private

Definition at line 395 of file psim.h.

fMat pSubChain::Gamma
private

Definition at line 386 of file psim.h.

fMat pSubChain::Gamma_inv
private

Definition at line 387 of file psim.h.

fMat pSubChain::IW
private

Definition at line 392 of file psim.h.

int* pSubChain::joint_index
private

Definition at line 358 of file psim.h.

fMat** pSubChain::Lambda
private

Definition at line 389 of file psim.h.

int pSubChain::last_index[2]
private

Definition at line 346 of file psim.h.

Joint* pSubChain::last_joint
private

Definition at line 344 of file psim.h.

pJoint* pSubChain::last_pjoints[2]
private

Definition at line 343 of file psim.h.

pLink** pSubChain::links
private

Definition at line 352 of file psim.h.

int pSubChain::n_const
private

Definition at line 356 of file psim.h.

int pSubChain::n_dof
private

Definition at line 355 of file psim.h.

int pSubChain::n_links
private

Definition at line 353 of file psim.h.

int pSubChain::n_outer_joints
private

Definition at line 351 of file psim.h.

pJoint** pSubChain::outer_joints
private

Definition at line 348 of file psim.h.

int* pSubChain::outer_joints_index
private

Definition at line 350 of file psim.h.

int* pSubChain::outer_joints_origin
private

Definition at line 349 of file psim.h.

fMat pSubChain::P
private

Definition at line 384 of file psim.h.

pSubChain* pSubChain::parent
private

Definition at line 341 of file psim.h.

pSim* pSubChain::sim
private

Definition at line 340 of file psim.h.

fVec pSubChain::tau
private

Definition at line 394 of file psim.h.

fVec* pSubChain::vel_temp
private

Definition at line 407 of file psim.h.

fMat pSubChain::W
private

Definition at line 392 of file psim.h.


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


openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Sat Apr 13 2019 02:14:29