Public Member Functions | Private Member Functions | List of all members
ODE_ForwardDynamics Class Reference

#include <ODE_World.h>

Inheritance diagram for ODE_ForwardDynamics:
Inheritance graph
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Public Member Functions

virtual void calcNextState ()
 
virtual void initialize ()
 
 ODE_ForwardDynamics (hrp::BodyPtr body)
 
void updateSensors ()
 
- Public Member Functions inherited from hrp::ForwardDynamics
void enableSensors (bool on)
 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW ForwardDynamics (BodyPtr body)
 
void setEulerMethod ()
 
void setGravityAcceleration (const Vector3 &g)
 
void setRungeKuttaMethod ()
 
void setTimeStep (double timeStep)
 
virtual ~ForwardDynamics ()
 

Private Member Functions

void updateForceSensor (ODE_ForceSensor *sensor)
 

Additional Inherited Members

- Protected Types inherited from hrp::ForwardDynamics
enum  { EULER_METHOD, RUNGEKUTTA_METHOD }
 
- Protected Member Functions inherited from hrp::ForwardDynamics
virtual void initializeSensors ()
 
virtual void updateSensorsFinal ()
 
- Static Protected Member Functions inherited from hrp::ForwardDynamics
static void SE3exp (Vector3 &out_p, Matrix33 &out_R, const Vector3 &p0, const Matrix33 &R0, const Vector3 &w, const Vector3 &vo, double dt)
 update position/orientation using spatial velocity More...
 
- Protected Attributes inherited from hrp::ForwardDynamics
BodyPtr body
 
Vector3 g
 
enum hrp::ForwardDynamics:: { ... }  integrationMode
 
bool sensorsEnabled
 
double timeStep
 

Detailed Description

Definition at line 137 of file ODE_World.h.

Constructor & Destructor Documentation

◆ ODE_ForwardDynamics()

ODE_ForwardDynamics::ODE_ForwardDynamics ( hrp::BodyPtr  body)

Definition at line 258 of file ODE_World.cpp.

Member Function Documentation

◆ calcNextState()

void ODE_ForwardDynamics::calcNextState ( )
virtual

Implements hrp::ForwardDynamics.

Definition at line 263 of file ODE_World.cpp.

◆ initialize()

void ODE_ForwardDynamics::initialize ( void  )
virtual

Implements hrp::ForwardDynamics.

Definition at line 266 of file ODE_World.cpp.

◆ updateForceSensor()

void ODE_ForwardDynamics::updateForceSensor ( ODE_ForceSensor sensor)
private

Definition at line 311 of file ODE_World.cpp.

◆ updateSensors()

void ODE_ForwardDynamics::updateSensors ( )

Definition at line 273 of file ODE_World.cpp.


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 Thu Sep 8 2022 02:24:07