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

fVec *	acc_temp

PSIM_AXIS	axis

pSubChain *	children [2]

fVec	colf_temp

int *	const_index

fVec	da6

fVec	f_temp

fMat	Gamma

fMat	Gamma_inv

fMat	IW

int *	joint_index

fMat **	Lambda

int	last_index [2]

Joint *	last_joint

pJoint *	last_pjoints [2]

pLink **	links

int	n_const

int	n_dof

int	n_links

int	n_outer_joints

pJoint **	outer_joints

int *	outer_joints_index

int *	outer_joints_origin

fMat	P

pSubChain *	parent

pSim *	sim

fVec	tau

fVec *	vel_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:

Public Member Functions

Private Member Functions

Private Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation