#include <DynamicsSimulator_impl.h>

Inheritance diagram for DynamicsSimulator_impl:

Public Member Functions
virtual void	calcCharacterForwardKinematics (const char *characterName)

virtual void	calcCharacterForwardKinematics (const char *characterName)

virtual CORBA::Boolean	calcCharacterInverseKinematics (const char characterName, const char baseLink, const char *targetLink, const LinkPosition &target)
	not implemented as a server function (08/13/2007) More...

virtual CORBA::Boolean	calcCharacterInverseKinematics (const char characterName, const char baseLink, const char *targetLink, const LinkPosition &target)

virtual void	calcCharacterJacobian (const char characterName, const char baseLink, const char *targetLink, DblSequence_out jacobian)

virtual void	calcCharacterJacobian (const char characterName, const char baseLink, const char *targetLink, DblSequence_out jacobian)

virtual void	calcWorldForwardKinematics ()

virtual void	calcWorldForwardKinematics ()

virtual bool	checkCollision (bool checkAll)

virtual bool	checkCollision (bool checkAll)

virtual DistanceSequence *	checkDistance ()

virtual DistanceSequence *	checkDistance ()

virtual LinkPairSequence *	checkIntersection (CORBA::Boolean checkAll)

virtual LinkPairSequence *	checkIntersection (CORBA::Boolean checkAll)

virtual void	destroy ()

virtual void	destroy ()

	DynamicsSimulator_impl (CORBA::ORB_ptr orb)

	DynamicsSimulator_impl (CORBA::ORB_ptr orb)

virtual void	getCharacterAllLinkData (const char *characterName, OpenHRP::DynamicsSimulator::LinkDataType type, DblSequence_out wdata)

virtual void	getCharacterAllLinkData (const char *characterName, OpenHRP::DynamicsSimulator::LinkDataType type, DblSequence_out wdata)

virtual CORBA::Boolean	getCharacterCollidingPairs (const char *characterName, LinkPairSequence_out pairs)

virtual CORBA::Boolean	getCharacterCollidingPairs (const char *characterName, LinkPairSequence_out pairs)

virtual void	getCharacterLinkData (const char characterName, const char link, OpenHRP::DynamicsSimulator::LinkDataType type, DblSequence_out rdata)

virtual void	getCharacterLinkData (const char characterName, const char link, OpenHRP::DynamicsSimulator::LinkDataType type, DblSequence_out rdata)

virtual void	getCharacterSensorState (const char *characterName, SensorState_out sstate)

virtual void	getCharacterSensorState (const char *characterName, SensorState_out sstate)

virtual void	getCharacterSensorValues (const char characterName, const char sensorName, DblSequence_out values)

virtual void	getCharacterSensorValues (const char characterName, const char sensorName, DblSequence_out values)

virtual void	getExtraJointConstraintForce (const char characterName, const char extraJointName, DblSequence6_out contactForce)

virtual void	getExtraJointConstraintForce (const char characterName, const char extraJointName, DblSequence6_out contactForce)

virtual void	getGVector (DblSequence3_out wdata)

virtual void	getGVector (DblSequence3_out wdata)

virtual void	getWorldState (WorldState_out state)

virtual void	getWorldState (WorldState_out wstate)

virtual void	init (CORBA::Double timeStep, OpenHRP::DynamicsSimulator::IntegrateMethod integrateOpt, OpenHRP::DynamicsSimulator::SensorOption sensorOpt)

virtual void	init (CORBA::Double timeStep, OpenHRP::DynamicsSimulator::IntegrateMethod integrateOpt, OpenHRP::DynamicsSimulator::SensorOption sensorOpt)

virtual void	initSimulation ()

virtual void	initSimulation ()

virtual void	registerCharacter (const char *name, BodyInfo_ptr cinfo)

virtual void	registerCharacter (const char *name, BodyInfo_ptr binfo)

virtual void	registerCollisionCheckPair (const char char1, const char name1, const char char2, const char name2, CORBA::Double staticFriction, CORBA::Double slipFriction, const DblSequence6 &K, const DblSequence6 &C, const double culling_thresh, const double restitution)

virtual void	registerCollisionCheckPair (const char char1, const char name1, const char char2, const char name2, CORBA::Double staticFriction, CORBA::Double slipFriction, const DblSequence6 &K, const DblSequence6 &C, const double culling_thresh, const double restitution)

virtual void	registerExtraJoint (const char charName1, const char linkName1, const char charName2, const char linkName2, const DblSequence3 &link1LocalPos, const DblSequence3 &link2LocalPos, const ExtraJointType jointType, const DblSequence3 &jointAxis, const char *extraJointName)

virtual void	registerExtraJoint (const char charName1, const char linkName1, const char charName2, const char linkName2, const DblSequence3 &link1LocalPos, const DblSequence3 &link2LocalPos, const ExtraJointType jointType, const DblSequence3 &jointAxis, const char *extraJointName)

virtual void	registerIntersectionCheckPair (const char char1, const char name1, const char char2, const char name2, const double tolerance)

virtual void	registerIntersectionCheckPair (const char char1, const char name1, const char char2, const char name2, const double tolerance)

virtual void	setCharacterAllJointModes (const char *characterName, OpenHRP::DynamicsSimulator::JointDriveMode jointMode)

virtual void	setCharacterAllJointModes (const char *characterName, OpenHRP::DynamicsSimulator::JointDriveMode jointMode)

virtual void	setCharacterAllLinkData (const char *characterName, OpenHRP::DynamicsSimulator::LinkDataType type, const DblSequence &wdata)

virtual void	setCharacterAllLinkData (const char *characterName, OpenHRP::DynamicsSimulator::LinkDataType type, const DblSequence &wdata)

virtual void	setCharacterLinkData (const char characterName, const char link, OpenHRP::DynamicsSimulator::LinkDataType type, const DblSequence &data)

virtual void	setCharacterLinkData (const char characterName, const char link, OpenHRP::DynamicsSimulator::LinkDataType type, const DblSequence &data)

virtual void	setGVector (const DblSequence3 &wdata)

virtual void	setGVector (const DblSequence3 &wdata)

virtual void	stepSimulation ()

virtual void	stepSimulation ()

	~DynamicsSimulator_impl ()

	~DynamicsSimulator_impl ()

Private Member Functions
void	_setupCharacterData ()

void	_setupCharacterData ()

void	_updateCharacterPositions ()

void	_updateCharacterPositions ()

void	_updateSensorStates ()

void	_updateSensorStates ()

void	registerCollisionPair2CD (const std::string &, const std::string &, const std::string &, const std::string &)

void	registerCollisionPair2CD (const std::string &, const std::string &, const std::string &, const std::string &)

Private Attributes
CharacterPositionSequence_var	allCharacterPositions

SensorStateSequence_var	allCharacterSensorStates

LinkPairSequence_var	collidingLinkPairs

CollisionDetector_var	collisionDetector

CollisionSequence_var	collisions

bool	isFirstSimulationLoop

bool	needToUpdatePositions

bool	needToUpdateSensorStates

CORBA::ORB_var	orb_

TimeMeasure	timeMeasure1

TimeMeasure	timeMeasure2

TimeMeasure	timeMeasure3

bool	timeMeasureFinished

bool	timeMeasureStarted

::World	world

hrp::World< hrp::ConstraintForceSolver >	world

Detailed Description

DynamicsSimulator_impl class

Definition at line 35 of file AistDynamicsSimulator/DynamicsSimulator_impl.h.

Constructor & Destructor Documentation

◆ DynamicsSimulator_impl() [1/2]

DynamicsSimulator_impl::DynamicsSimulator_impl ( CORBA::ORB_ptr orb )

Definition at line 116 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

◆ ~DynamicsSimulator_impl() [1/2]

DynamicsSimulator_impl::~DynamicsSimulator_impl ( )

Definition at line 157 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

◆ DynamicsSimulator_impl() [2/2]

DynamicsSimulator_impl::DynamicsSimulator_impl ( CORBA::ORB_ptr orb )

◆ ~DynamicsSimulator_impl() [2/2]

DynamicsSimulator_impl::~DynamicsSimulator_impl ( )

Member Function Documentation

◆ _setupCharacterData() [1/2]

void DynamicsSimulator_impl::_setupCharacterData ( )

private

◆ _setupCharacterData() [2/2]

void DynamicsSimulator_impl::_setupCharacterData ( )

private

Definition at line 1213 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

◆ _updateCharacterPositions() [1/2]

void DynamicsSimulator_impl::_updateCharacterPositions ( )

private

◆ _updateCharacterPositions() [2/2]

void DynamicsSimulator_impl::_updateCharacterPositions ( )

private

Definition at line 1253 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

◆ _updateSensorStates() [1/2]

void DynamicsSimulator_impl::_updateSensorStates ( )

private

◆ _updateSensorStates() [2/2]

void DynamicsSimulator_impl::_updateSensorStates ( )

private

Definition at line 1289 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

◆ calcCharacterForwardKinematics() [1/2]

virtual void DynamicsSimulator_impl::calcCharacterForwardKinematics ( const char * characterName )

virtual

◆ calcCharacterForwardKinematics() [2/2]

void DynamicsSimulator_impl::calcCharacterForwardKinematics ( const char * characterName )

virtual

Definition at line 1107 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

◆ calcCharacterInverseKinematics() [1/2]

virtual CORBA::Boolean DynamicsSimulator_impl::calcCharacterInverseKinematics	(	const char *	characterName,
		const char *	baseLink,
		const char *	targetLink,
		const LinkPosition &	target
	)

virtual

not implemented as a server function (08/13/2007)

◆ calcCharacterInverseKinematics() [2/2]

CORBA::Boolean DynamicsSimulator_impl::calcCharacterInverseKinematics	(	const char *	characterName,
		const char *	baseLink,
		const char *	targetLink,
		const LinkPosition &	target
	)

virtual

Definition at line 1059 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

◆ calcCharacterJacobian() [1/2]

virtual void DynamicsSimulator_impl::calcCharacterJacobian	(	const char *	characterName,
		const char *	baseLink,
		const char *	targetLink,
		DblSequence_out	jacobian
	)

virtual

◆ calcCharacterJacobian() [2/2]

void DynamicsSimulator_impl::calcCharacterJacobian	(	const char *	characterName,
		const char *	baseLink,
		const char *	targetLink,
		DblSequence_out	jacobian
	)

virtual

Definition at line 1414 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

◆ calcWorldForwardKinematics() [1/2]

virtual void DynamicsSimulator_impl::calcWorldForwardKinematics ( )

virtual

◆ calcWorldForwardKinematics() [2/2]

void DynamicsSimulator_impl::calcWorldForwardKinematics ( )

virtual

Definition at line 1128 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

◆ checkCollision() [1/2]

bool DynamicsSimulator_impl::checkCollision ( bool checkAll )

virtual

Definition at line 1139 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

◆ checkCollision() [2/2]

virtual bool DynamicsSimulator_impl::checkCollision ( bool checkAll )

virtual

◆ checkDistance() [1/2]

DistanceSequence * DynamicsSimulator_impl::checkDistance ( )

virtual

Definition at line 1153 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

◆ checkDistance() [2/2]

virtual DistanceSequence* DynamicsSimulator_impl::checkDistance ( )

virtual

◆ checkIntersection() [1/2]

LinkPairSequence * DynamicsSimulator_impl::checkIntersection ( CORBA::Boolean checkAll )

virtual

Definition at line 1166 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

◆ checkIntersection() [2/2]

virtual LinkPairSequence* DynamicsSimulator_impl::checkIntersection ( CORBA::Boolean checkAll )

virtual

◆ destroy() [1/2]

virtual void DynamicsSimulator_impl::destroy ( )

virtual

◆ destroy() [2/2]

void DynamicsSimulator_impl::destroy ( )

virtual

Definition at line 167 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

◆ getCharacterAllLinkData() [1/2]

virtual void DynamicsSimulator_impl::getCharacterAllLinkData	(	const char *	characterName,
		OpenHRP::DynamicsSimulator::LinkDataType	type,
		DblSequence_out	wdata
	)

virtual

◆ getCharacterAllLinkData() [2/2]

void DynamicsSimulator_impl::getCharacterAllLinkData	(	const char *	characterName,
		OpenHRP::DynamicsSimulator::LinkDataType	type,
		DblSequence_out	wdata
	)

virtual

Definition at line 865 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

◆ getCharacterCollidingPairs() [1/2]

virtual CORBA::Boolean DynamicsSimulator_impl::getCharacterCollidingPairs	(	const char *	characterName,
		LinkPairSequence_out	pairs
	)

virtual

◆ getCharacterCollidingPairs() [2/2]

CORBA::Boolean DynamicsSimulator_impl::getCharacterCollidingPairs	(	const char *	characterName,
		LinkPairSequence_out	pairs
	)

virtual

Note: S L O W. If CORBA sequence resize does not fiddle with the memory allocation one loop will do. Two to be on the safe side.

Definition at line 1373 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

◆ getCharacterLinkData() [1/2]

virtual void DynamicsSimulator_impl::getCharacterLinkData	(	const char *	characterName,
		const char *	link,
		OpenHRP::DynamicsSimulator::LinkDataType	type,
		DblSequence_out	rdata
	)

virtual

◆ getCharacterLinkData() [2/2]

void DynamicsSimulator_impl::getCharacterLinkData	(	const char *	characterName,
		const char *	link,
		OpenHRP::DynamicsSimulator::LinkDataType	type,
		DblSequence_out	rdata
	)

virtual

Definition at line 762 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

◆ getCharacterSensorState() [1/2]

virtual void DynamicsSimulator_impl::getCharacterSensorState	(	const char *	characterName,
		SensorState_out	sstate
	)

virtual

◆ getCharacterSensorState() [2/2]

void DynamicsSimulator_impl::getCharacterSensorState	(	const char *	characterName,
		SensorState_out	sstate
	)

virtual

Definition at line 1198 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

◆ getCharacterSensorValues() [1/2]

virtual void DynamicsSimulator_impl::getCharacterSensorValues	(	const char *	characterName,
		const char *	sensorName,
		DblSequence_out	values
	)

virtual

◆ getCharacterSensorValues() [2/2]

void DynamicsSimulator_impl::getCharacterSensorValues	(	const char *	characterName,
		const char *	sensorName,
		DblSequence_out	values
	)

virtual

Definition at line 466 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

◆ getExtraJointConstraintForce() [1/2]

virtual void DynamicsSimulator_impl::getExtraJointConstraintForce	(	const char *	characterName,
		const char *	extraJointName,
		DblSequence6_out	contactForce
	)

virtual

◆ getExtraJointConstraintForce() [2/2]

void DynamicsSimulator_impl::getExtraJointConstraintForce	(	const char *	characterName,
		const char *	extraJointName,
		DblSequence6_out	contactForce
	)

virtual

Todo:: implement this method

Todo:: implement this method

Definition at line 452 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

◆ getGVector() [1/2]

virtual void DynamicsSimulator_impl::getGVector ( DblSequence3_out wdata )

virtual

◆ getGVector() [2/2]

void DynamicsSimulator_impl::getGVector ( DblSequence3_out wdata )

virtual

Definition at line 1012 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

◆ getWorldState() [1/2]

virtual void DynamicsSimulator_impl::getWorldState ( WorldState_out state )

virtual

◆ getWorldState() [2/2]

void DynamicsSimulator_impl::getWorldState ( WorldState_out wstate )

virtual

Definition at line 1178 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

◆ init() [1/2]

virtual void DynamicsSimulator_impl::init	(	CORBA::Double	timeStep,
		OpenHRP::DynamicsSimulator::IntegrateMethod	integrateOpt,
		OpenHRP::DynamicsSimulator::SensorOption	sensorOpt
	)

virtual

◆ init() [2/2]

void DynamicsSimulator_impl::init	(	CORBA::Double	timeStep,
		OpenHRP::DynamicsSimulator::IntegrateMethod	integrateOpt,
		OpenHRP::DynamicsSimulator::SensorOption	sensorOpt
	)

virtual

Definition at line 206 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

◆ initSimulation() [1/2]

virtual void DynamicsSimulator_impl::initSimulation ( )

virtual

◆ initSimulation() [2/2]

void DynamicsSimulator_impl::initSimulation ( )

virtual

Definition at line 559 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

◆ registerCharacter() [1/2]

virtual void DynamicsSimulator_impl::registerCharacter	(	const char *	name,
		BodyInfo_ptr	cinfo
	)

virtual

◆ registerCharacter() [2/2]

void DynamicsSimulator_impl::registerCharacter	(	const char *	name,
		BodyInfo_ptr	binfo
	)

virtual

Definition at line 180 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

◆ registerCollisionCheckPair() [1/2]

void DynamicsSimulator_impl::registerCollisionCheckPair	(	const char *	char1,
		const char *	name1,
		const char *	char2,
		const char *	name2,
		CORBA::Double	staticFriction,
		CORBA::Double	slipFriction,
		const DblSequence6 &	K,
		const DblSequence6 &	C,
		const double	culling_thresh,
		const double	restitution
	)

virtual

Definition at line 244 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

◆ registerCollisionCheckPair() [2/2]

virtual void DynamicsSimulator_impl::registerCollisionCheckPair	(	const char *	char1,
		const char *	name1,
		const char *	char2,
		const char *	name2,
		CORBA::Double	staticFriction,
		CORBA::Double	slipFriction,
		const DblSequence6 &	K,
		const DblSequence6 &	C,
		const double	culling_thresh,
		const double	restitution
	)

virtual

◆ registerCollisionPair2CD() [1/2]

void DynamicsSimulator_impl::registerCollisionPair2CD	(	const std::string &	,
		const std::string &	,
		const std::string &	,
		const std::string &
	)

private

◆ registerCollisionPair2CD() [2/2]

void DynamicsSimulator_impl::registerCollisionPair2CD	(	const std::string &	,
		const std::string &	,
		const std::string &	,
		const std::string &
	)

private

◆ registerExtraJoint() [1/2]

virtual void DynamicsSimulator_impl::registerExtraJoint	(	const char *	charName1,
		const char *	linkName1,
		const char *	charName2,
		const char *	linkName2,
		const DblSequence3 &	link1LocalPos,
		const DblSequence3 &	link2LocalPos,
		const ExtraJointType	jointType,
		const DblSequence3 &	jointAxis,
		const char *	extraJointName
	)

virtual

◆ registerExtraJoint() [2/2]

void DynamicsSimulator_impl::registerExtraJoint	(	const char *	charName1,
		const char *	linkName1,
		const char *	charName2,
		const char *	linkName2,
		const DblSequence3 &	link1LocalPos,
		const DblSequence3 &	link2LocalPos,
		const ExtraJointType	jointType,
		const DblSequence3 &	jointAxis,
		const char *	extraJointName
	)

virtual

Definition at line 406 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

◆ registerIntersectionCheckPair() [1/2]

virtual void DynamicsSimulator_impl::registerIntersectionCheckPair	(	const char *	char1,
		const char *	name1,
		const char *	char2,
		const char *	name2,
		const double	tolerance
	)

virtual

◆ registerIntersectionCheckPair() [2/2]

void DynamicsSimulator_impl::registerIntersectionCheckPair	(	const char *	char1,
		const char *	name1,
		const char *	char2,
		const char *	name2,
		const double	tolerance
	)

virtual

Definition at line 342 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

◆ setCharacterAllJointModes() [1/2]

virtual void DynamicsSimulator_impl::setCharacterAllJointModes	(	const char *	characterName,
		OpenHRP::DynamicsSimulator::JointDriveMode	jointMode
	)

virtual

◆ setCharacterAllJointModes() [2/2]

void DynamicsSimulator_impl::setCharacterAllJointModes	(	const char *	characterName,
		OpenHRP::DynamicsSimulator::JointDriveMode	jointMode
	)

virtual

Definition at line 1032 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

◆ setCharacterAllLinkData() [1/2]

virtual void DynamicsSimulator_impl::setCharacterAllLinkData	(	const char *	characterName,
		OpenHRP::DynamicsSimulator::LinkDataType	type,
		const DblSequence &	wdata
	)

virtual

◆ setCharacterAllLinkData() [2/2]

void DynamicsSimulator_impl::setCharacterAllLinkData	(	const char *	characterName,
		OpenHRP::DynamicsSimulator::LinkDataType	type,
		const DblSequence &	wdata
	)

virtual

Definition at line 920 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

◆ setCharacterLinkData() [1/2]

virtual void DynamicsSimulator_impl::setCharacterLinkData	(	const char *	characterName,
		const char *	link,
		OpenHRP::DynamicsSimulator::LinkDataType	type,
		const DblSequence &	data
	)

virtual

◆ setCharacterLinkData() [2/2]

void DynamicsSimulator_impl::setCharacterLinkData	(	const char *	characterName,
		const char *	link,
		OpenHRP::DynamicsSimulator::LinkDataType	type,
		const DblSequence &	data
	)

virtual

Definition at line 626 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

◆ setGVector() [1/2]

virtual void DynamicsSimulator_impl::setGVector ( const DblSequence3 & wdata )

virtual

◆ setGVector() [2/2]

void DynamicsSimulator_impl::setGVector ( const DblSequence3 & wdata )

virtual

Definition at line 989 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

◆ stepSimulation() [1/2]

virtual void DynamicsSimulator_impl::stepSimulation ( )

virtual

◆ stepSimulation() [2/2]

void DynamicsSimulator_impl::stepSimulation ( )

virtual

Definition at line 583 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

Member Data Documentation

◆ allCharacterPositions

CharacterPositionSequence_var DynamicsSimulator_impl::allCharacterPositions

private

Definition at line 50 of file AistDynamicsSimulator/DynamicsSimulator_impl.h.

◆ allCharacterSensorStates

SensorStateSequence_var DynamicsSimulator_impl::allCharacterSensorStates

private

Definition at line 53 of file AistDynamicsSimulator/DynamicsSimulator_impl.h.

◆ collidingLinkPairs

LinkPairSequence_var DynamicsSimulator_impl::collidingLinkPairs

private

Definition at line 48 of file AistDynamicsSimulator/DynamicsSimulator_impl.h.

◆ collisionDetector

CollisionDetector_var DynamicsSimulator_impl::collisionDetector

private

Definition at line 45 of file AistDynamicsSimulator/DynamicsSimulator_impl.h.

◆ collisions

CollisionSequence_var DynamicsSimulator_impl::collisions

private

Definition at line 47 of file AistDynamicsSimulator/DynamicsSimulator_impl.h.

◆ isFirstSimulationLoop

bool DynamicsSimulator_impl::isFirstSimulationLoop

private

Definition at line 54 of file UtDynamicsSimulator/DynamicsSimulator_impl.h.

◆ needToUpdatePositions

bool DynamicsSimulator_impl::needToUpdatePositions

private

Definition at line 51 of file AistDynamicsSimulator/DynamicsSimulator_impl.h.

◆ needToUpdateSensorStates

bool DynamicsSimulator_impl::needToUpdateSensorStates

private

Definition at line 54 of file AistDynamicsSimulator/DynamicsSimulator_impl.h.

◆ orb_

CORBA::ORB_var DynamicsSimulator_impl::orb_

private

ORB

Definition at line 41 of file AistDynamicsSimulator/DynamicsSimulator_impl.h.

◆ timeMeasure1

TimeMeasure DynamicsSimulator_impl::timeMeasure1

private

Definition at line 56 of file AistDynamicsSimulator/DynamicsSimulator_impl.h.

◆ timeMeasure2

TimeMeasure DynamicsSimulator_impl::timeMeasure2

private

Definition at line 57 of file AistDynamicsSimulator/DynamicsSimulator_impl.h.

◆ timeMeasure3

TimeMeasure DynamicsSimulator_impl::timeMeasure3

private

Definition at line 58 of file AistDynamicsSimulator/DynamicsSimulator_impl.h.

◆ timeMeasureFinished

bool DynamicsSimulator_impl::timeMeasureFinished

private

Definition at line 59 of file AistDynamicsSimulator/DynamicsSimulator_impl.h.

◆ timeMeasureStarted

bool DynamicsSimulator_impl::timeMeasureStarted

private

Definition at line 60 of file AistDynamicsSimulator/DynamicsSimulator_impl.h.

◆ world [1/2]

::World DynamicsSimulator_impl::world

private

Definition at line 41 of file UtDynamicsSimulator/DynamicsSimulator_impl.h.

◆ world [2/2]

hrp::World<hrp::ConstraintForceSolver> DynamicsSimulator_impl::world

private

Definition at line 43 of file AistDynamicsSimulator/DynamicsSimulator_impl.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ DynamicsSimulator_impl() [1/2]

◆ ~DynamicsSimulator_impl() [1/2]

◆ DynamicsSimulator_impl() [2/2]

◆ ~DynamicsSimulator_impl() [2/2]

Member Function Documentation

◆ _setupCharacterData() [1/2]

◆ _setupCharacterData() [2/2]

◆ _updateCharacterPositions() [1/2]

◆ _updateCharacterPositions() [2/2]

◆ _updateSensorStates() [1/2]

◆ _updateSensorStates() [2/2]

◆ calcCharacterForwardKinematics() [1/2]

◆ calcCharacterForwardKinematics() [2/2]

◆ calcCharacterInverseKinematics() [1/2]

◆ calcCharacterInverseKinematics() [2/2]

◆ calcCharacterJacobian() [1/2]

◆ calcCharacterJacobian() [2/2]

◆ calcWorldForwardKinematics() [1/2]

◆ calcWorldForwardKinematics() [2/2]

◆ checkCollision() [1/2]

◆ checkCollision() [2/2]

◆ checkDistance() [1/2]

◆ checkDistance() [2/2]

◆ checkIntersection() [1/2]

◆ checkIntersection() [2/2]

◆ destroy() [1/2]

◆ destroy() [2/2]

◆ getCharacterAllLinkData() [1/2]

◆ getCharacterAllLinkData() [2/2]

◆ getCharacterCollidingPairs() [1/2]

◆ getCharacterCollidingPairs() [2/2]

◆ getCharacterLinkData() [1/2]

◆ getCharacterLinkData() [2/2]

◆ getCharacterSensorState() [1/2]

◆ getCharacterSensorState() [2/2]

◆ getCharacterSensorValues() [1/2]

◆ getCharacterSensorValues() [2/2]

◆ getExtraJointConstraintForce() [1/2]

◆ getExtraJointConstraintForce() [2/2]

◆ getGVector() [1/2]

◆ getGVector() [2/2]

◆ getWorldState() [1/2]

◆ getWorldState() [2/2]

◆ init() [1/2]

◆ init() [2/2]

◆ initSimulation() [1/2]

◆ initSimulation() [2/2]

◆ registerCharacter() [1/2]

◆ registerCharacter() [2/2]

◆ registerCollisionCheckPair() [1/2]

◆ registerCollisionCheckPair() [2/2]

◆ registerCollisionPair2CD() [1/2]

◆ registerCollisionPair2CD() [2/2]

◆ registerExtraJoint() [1/2]

◆ registerExtraJoint() [2/2]

◆ registerIntersectionCheckPair() [1/2]

◆ registerIntersectionCheckPair() [2/2]

◆ setCharacterAllJointModes() [1/2]

◆ setCharacterAllJointModes() [2/2]

◆ setCharacterAllLinkData() [1/2]

◆ setCharacterAllLinkData() [2/2]

◆ setCharacterLinkData() [1/2]

◆ setCharacterLinkData() [2/2]

◆ setGVector() [1/2]

◆ setGVector() [2/2]

◆ stepSimulation() [1/2]

◆ stepSimulation() [2/2]

Member Data Documentation

◆ allCharacterPositions

◆ allCharacterSensorStates

◆ collidingLinkPairs

◆ collisionDetector

◆ collisions

◆ isFirstSimulationLoop

◆ needToUpdatePositions