Classes | Public Member Functions | Protected Attributes | Private Member Functions | Private Attributes | List of all members
World Class Reference

#include <World.h>

Classes

class  CharacterInfo
 

Public Member Functions

void addCharacter (Joint *rjoint, const std::string &_name, OpenHRP::LinkInfoSequence_var links)
 
void addCollisionCheckLinkPair (Joint *jnt1, Joint *jnt2, double staticFriction, double slipFriction, double epsilon)
 
int addSensor (Joint *jnt, int sensorType, int id, const std::string name, const fVec3 &_localPos, const fMat33 &_localR)
 
void calcCharacterJacobian (const char *characterName, const char *baseLink, const char *targetLink, fMat &J)
 
void calcNextState (OpenHRP::CollisionSequence &corbaCollisionSequence)
 
pSim * Chain ()
 
void clearCollisionPairs ()
 
double currentTime (void) const
 
void enableSensors (bool on)
 
Sensor * findSensor (const char *sensorName, const char *charName)
 
void getAllCharacterData (const char *name, OpenHRP::DynamicsSimulator::LinkDataType type, OpenHRP::DblSequence_out &rdata)
 
void getAllCharacterPositions (OpenHRP::CharacterPositionSequence &all_char_pos)
 
void getAllSensorStates (OpenHRP::SensorStateSequence &all_sensor_states)
 
const fVec3 & getGravityAcceleration ()
 
void initialize ()
 
int numCharacter ()
 
int numJoints (int index)
 
int numLinks (int index)
 
int numSensors (int sensorType, const char *charName)
 
int numSensors ()
 
Joint * rootJoint (int index)
 
void setAllCharacterData (const char *name, OpenHRP::DynamicsSimulator::LinkDataType type, const OpenHRP::DblSequence &wdata)
 
void setCurrentTime (double)
 
void setEulerMethod ()
 
void setGravityAcceleration (const fVec3 &g)
 
void setRungeKuttaMethod ()
 
void setTimeStep (double)
 
double timeStep (void) const
 
 World ()
 
 ~World ()
 

Protected Attributes

pSim * chain
 
std::vector< CharacterInfo > characters
 
std::vector< SDContactPair * > contact_pairs
 
std::vector< Sensor * > sensors
 

Private Member Functions

void _get_all_character_data_sub (Joint *cur, int index, OpenHRP::DynamicsSimulator::LinkDataType type, OpenHRP::DblSequence_out &rdata)
 
void _get_all_sensor_states_sub (Joint *cur, int &count, OpenHRP::SensorState &state)
 
void _set_all_character_data_sub (Joint *cur, int index, OpenHRP::DynamicsSimulator::LinkDataType type, const OpenHRP::DblSequence &wdata)
 
void update_accel_sensor (AccelSensor *as)
 
void update_force_sensor (ForceSensor *fs)
 
void update_rate_gyro_sensor (RateGyroSensor *rgs)
 

Private Attributes

double currentTime_
 
fVec3 g
 
bool isEulerMethod
 
int numRegisteredLinkPairs
 
bool sensorsAreEnabled
 
double timeStep_
 

Detailed Description

Definition at line 33 of file server/UtDynamicsSimulator/World.h.

Constructor & Destructor Documentation

◆ World()

World::World ( )

Definition at line 68 of file server/UtDynamicsSimulator/World.cpp.

◆ ~World()

World::~World ( )

Definition at line 81 of file server/UtDynamicsSimulator/World.cpp.

Member Function Documentation

◆ _get_all_character_data_sub()

void World::_get_all_character_data_sub ( Joint *  cur,
int  index,
OpenHRP::DynamicsSimulator::LinkDataType  type,
OpenHRP::DblSequence_out &  rdata 
)
private

Definition at line 378 of file server/UtDynamicsSimulator/World.cpp.

◆ _get_all_sensor_states_sub()

void World::_get_all_sensor_states_sub ( Joint *  cur,
int &  count,
OpenHRP::SensorState &  state 
)
private

◆ _set_all_character_data_sub()

void World::_set_all_character_data_sub ( Joint *  cur,
int  index,
OpenHRP::DynamicsSimulator::LinkDataType  type,
const OpenHRP::DblSequence &  wdata 
)
private

Definition at line 429 of file server/UtDynamicsSimulator/World.cpp.

◆ addCharacter()

void World::addCharacter ( Joint *  rjoint,
const std::string &  _name,
OpenHRP::LinkInfoSequence_var  links 
)

Definition at line 616 of file server/UtDynamicsSimulator/World.cpp.

◆ addCollisionCheckLinkPair()

void World::addCollisionCheckLinkPair ( Joint *  jnt1,
Joint *  jnt2,
double  staticFriction,
double  slipFriction,
double  epsilon 
)

Definition at line 605 of file server/UtDynamicsSimulator/World.cpp.

◆ addSensor()

int World::addSensor ( Joint *  jnt,
int  sensorType,
int  id,
const std::string  name,
const fVec3 &  _localPos,
const fMat33 &  _localR 
)

Definition at line 312 of file server/UtDynamicsSimulator/World.cpp.

◆ calcCharacterJacobian()

void World::calcCharacterJacobian ( const char *  characterName,
const char *  baseLink,
const char *  targetLink,
fMat &  J 
)

Definition at line 565 of file server/UtDynamicsSimulator/World.cpp.

◆ calcNextState()

void World::calcNextState ( OpenHRP::CollisionSequence &  corbaCollisionSequence)

Definition at line 146 of file server/UtDynamicsSimulator/World.cpp.

◆ Chain()

pSim* World::Chain ( )
inline

Definition at line 78 of file server/UtDynamicsSimulator/World.h.

◆ clearCollisionPairs()

void World::clearCollisionPairs ( )

◆ currentTime()

double World::currentTime ( void  ) const
inline

Definition at line 63 of file server/UtDynamicsSimulator/World.h.

◆ enableSensors()

void World::enableSensors ( bool  on)

Definition at line 119 of file server/UtDynamicsSimulator/World.cpp.

◆ findSensor()

Sensor * World::findSensor ( const char *  sensorName,
const char *  charName 
)

Definition at line 325 of file server/UtDynamicsSimulator/World.cpp.

◆ getAllCharacterData()

void World::getAllCharacterData ( const char *  name,
OpenHRP::DynamicsSimulator::LinkDataType  type,
OpenHRP::DblSequence_out &  rdata 
)

Definition at line 354 of file server/UtDynamicsSimulator/World.cpp.

◆ getAllCharacterPositions()

void World::getAllCharacterPositions ( OpenHRP::CharacterPositionSequence &  all_char_pos)

Definition at line 473 of file server/UtDynamicsSimulator/World.cpp.

◆ getAllSensorStates()

void World::getAllSensorStates ( OpenHRP::SensorStateSequence &  all_sensor_states)

Definition at line 492 of file server/UtDynamicsSimulator/World.cpp.

◆ getGravityAcceleration()

const fVec3& World::getGravityAcceleration ( )
inline

Definition at line 66 of file server/UtDynamicsSimulator/World.h.

◆ initialize()

void World::initialize ( void  )

Definition at line 125 of file server/UtDynamicsSimulator/World.cpp.

◆ numCharacter()

int World::numCharacter ( )
inline

Definition at line 108 of file server/UtDynamicsSimulator/World.h.

◆ numJoints()

int World::numJoints ( int  index)
inline

Definition at line 104 of file server/UtDynamicsSimulator/World.h.

◆ numLinks()

int World::numLinks ( int  index)
inline

Definition at line 101 of file server/UtDynamicsSimulator/World.h.

◆ numSensors() [1/2]

int World::numSensors ( int  sensorType,
const char *  charName 
)

Definition at line 339 of file server/UtDynamicsSimulator/World.cpp.

◆ numSensors() [2/2]

int World::numSensors ( )
inline

Definition at line 87 of file server/UtDynamicsSimulator/World.h.

◆ rootJoint()

Joint * World::rootJoint ( int  index)

Definition at line 635 of file server/UtDynamicsSimulator/World.cpp.

◆ setAllCharacterData()

void World::setAllCharacterData ( const char *  name,
OpenHRP::DynamicsSimulator::LinkDataType  type,
const OpenHRP::DblSequence &  wdata 
)

Definition at line 406 of file server/UtDynamicsSimulator/World.cpp.

◆ setCurrentTime()

void World::setCurrentTime ( double  time)

Definition at line 105 of file server/UtDynamicsSimulator/World.cpp.

◆ setEulerMethod()

void World::setEulerMethod ( )

Definition at line 271 of file server/UtDynamicsSimulator/World.cpp.

◆ setGravityAcceleration()

void World::setGravityAcceleration ( const fVec3 &  g)

Definition at line 111 of file server/UtDynamicsSimulator/World.cpp.

◆ setRungeKuttaMethod()

void World::setRungeKuttaMethod ( )

Definition at line 277 of file server/UtDynamicsSimulator/World.cpp.

◆ setTimeStep()

void World::setTimeStep ( double  ts)

Definition at line 99 of file server/UtDynamicsSimulator/World.cpp.

◆ timeStep()

double World::timeStep ( void  ) const
inline

Definition at line 60 of file server/UtDynamicsSimulator/World.h.

◆ update_accel_sensor()

void World::update_accel_sensor ( AccelSensor *  as)
private

Definition at line 259 of file server/UtDynamicsSimulator/World.cpp.

◆ update_force_sensor()

void World::update_force_sensor ( ForceSensor *  fs)
private

Definition at line 237 of file server/UtDynamicsSimulator/World.cpp.

◆ update_rate_gyro_sensor()

void World::update_rate_gyro_sensor ( RateGyroSensor *  rgs)
private

Definition at line 254 of file server/UtDynamicsSimulator/World.cpp.

Member Data Documentation

◆ chain

pSim* World::chain
protected

Definition at line 113 of file server/UtDynamicsSimulator/World.h.

◆ characters

std::vector<CharacterInfo> World::characters
protected

Definition at line 117 of file server/UtDynamicsSimulator/World.h.

◆ contact_pairs

std::vector<SDContactPair*> World::contact_pairs
protected

Definition at line 114 of file server/UtDynamicsSimulator/World.h.

◆ currentTime_

double World::currentTime_
private

Definition at line 125 of file server/UtDynamicsSimulator/World.h.

◆ g

fVec3 World::g
private

Definition at line 151 of file server/UtDynamicsSimulator/World.h.

◆ isEulerMethod

bool World::isEulerMethod
private

Definition at line 153 of file server/UtDynamicsSimulator/World.h.

◆ numRegisteredLinkPairs

int World::numRegisteredLinkPairs
private

Definition at line 149 of file server/UtDynamicsSimulator/World.h.

◆ sensors

std::vector<Sensor*> World::sensors
protected

Definition at line 115 of file server/UtDynamicsSimulator/World.h.

◆ sensorsAreEnabled

bool World::sensorsAreEnabled
private

Definition at line 155 of file server/UtDynamicsSimulator/World.h.

◆ timeStep_

double World::timeStep_
private

Definition at line 126 of file server/UtDynamicsSimulator/World.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 Thu Sep 8 2022 02:24:07