ODE_World.h File Reference

#include <ode/ode.h>
#include <hrpCorba/ModelLoader.hh>
#include <hrpModel/World.h>
#include <hrpModel/Body.h>
#include <hrpModel/ForwardDynamics.h>
#include <hrpUtil/Eigen4d.h>
#include <string>
#include <vector>
#include "ODE_Link.h"

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Classes
struct	ODE_World::LinkPair
class	ODE_ForwardDynamics
class	ODE_World

Typedefs
typedef boost::shared_ptr< ODE_ForwardDynamics >	ODE_ForwardDynamicsPtr

Functions
static void	ODE_collideCallback (void *data, dGeomID o1, dGeomID o2)

Variables
static const dReal	CFM = 10e-6
static const int	COLLISION_MAX_POINT = 100
static const dReal	CONTACT_FDIR1_X = 0.0
static const dReal	CONTACT_FDIR1_Y = 0.0
static const dReal	CONTACT_FDIR1_Z = 0.0
static const dReal	CONTACT_MAX_CORRECTING_VEL = dInfinity
static const dReal	CONTACT_SURFACE_LAYER = 0.0
static const dReal	ERP = 0.2
static const int	QUICKSTEP_NUM_ITERATIONS = 20
static const dReal	SURFACE_BOUNCE = 0.0
static const dReal	SURFACE_BOUNCE_VEL = 0.0
static const int	SURFACE_MODE
static const dReal	SURFACE_MOTION1 = 0.0
static const dReal	SURFACE_MOTION2 = 0.0
static const dReal	SURFACE_MU = dInfinity
static const dReal	SURFACE_MU2 = 0.0
static const dReal	SURFACE_SLIP1 = 0.0
static const dReal	SURFACE_SLIP2 = 0.0
static const dReal	SURFACE_SOFT_CFM = 0.0
static const dReal	SURFACE_SOFT_ERP = 0.0
static const bool	USE_QUICKSTEP =true

Typedef Documentation

ODE_ForwardDynamicsPtr

typedef boost::shared_ptr<ODE_ForwardDynamics> ODE_ForwardDynamicsPtr

Definition at line 148 of file ODE_World.h.

Function Documentation

ODE_collideCallback()

static void ODE_collideCallback ( void *  data, dGeomID  o1, dGeomID  o2  )

static

Definition at line 205 of file ODE_World.cpp.

Variable Documentation

CFM

const dReal CFM = 10e-6

static

Definition at line 30 of file ODE_World.h.

COLLISION_MAX_POINT

const int COLLISION_MAX_POINT = 100

static

Definition at line 36 of file ODE_World.h.

CONTACT_FDIR1_X

const dReal CONTACT_FDIR1_X = 0.0

static

Definition at line 64 of file ODE_World.h.

CONTACT_FDIR1_Y

const dReal CONTACT_FDIR1_Y = 0.0

static

Definition at line 65 of file ODE_World.h.

CONTACT_FDIR1_Z

const dReal CONTACT_FDIR1_Z = 0.0

static

Definition at line 66 of file ODE_World.h.

CONTACT_MAX_CORRECTING_VEL

const dReal CONTACT_MAX_CORRECTING_VEL = dInfinity

static

Definition at line 33 of file ODE_World.h.

CONTACT_SURFACE_LAYER

const dReal CONTACT_SURFACE_LAYER = 0.0

static

Definition at line 34 of file ODE_World.h.

ERP

const dReal ERP = 0.2

static

Definition at line 32 of file ODE_World.h.

QUICKSTEP_NUM_ITERATIONS

const int QUICKSTEP_NUM_ITERATIONS = 20

static

Definition at line 25 of file ODE_World.h.

SURFACE_BOUNCE

const dReal SURFACE_BOUNCE = 0.0

static

Definition at line 56 of file ODE_World.h.

SURFACE_BOUNCE_VEL

const dReal SURFACE_BOUNCE_VEL = 0.0

static

Definition at line 57 of file ODE_World.h.

SURFACE_MODE

const int SURFACE_MODE

static

Initial value:

=   0


                                | dContactBounce

Definition at line 38 of file ODE_World.h.

SURFACE_MOTION1

const dReal SURFACE_MOTION1 = 0.0

static

Definition at line 60 of file ODE_World.h.

SURFACE_MOTION2

const dReal SURFACE_MOTION2 = 0.0

static

Definition at line 61 of file ODE_World.h.

SURFACE_MU

const dReal SURFACE_MU = dInfinity

static

Definition at line 54 of file ODE_World.h.

SURFACE_MU2

const dReal SURFACE_MU2 = 0.0

static

Definition at line 55 of file ODE_World.h.

SURFACE_SLIP1

const dReal SURFACE_SLIP1 = 0.0

static

Definition at line 62 of file ODE_World.h.

SURFACE_SLIP2

const dReal SURFACE_SLIP2 = 0.0

static

Definition at line 63 of file ODE_World.h.

SURFACE_SOFT_CFM

const dReal SURFACE_SOFT_CFM = 0.0

static

Definition at line 59 of file ODE_World.h.

SURFACE_SOFT_ERP

const dReal SURFACE_SOFT_ERP = 0.0

static

Definition at line 58 of file ODE_World.h.

USE_QUICKSTEP

const bool USE_QUICKSTEP =true

static

Definition at line 24 of file ODE_World.h.