hrp::ConstraintForceSolver Class Reference

#include <ConstraintForceSolver.h>

Public Member Functions
bool	addCollisionCheckLinkPair (int bodyIndex1, Link *link1, int bodyIndex2, Link *link2, double muStatic, double muDynamic, double culling_thresh, double restitution, double epsilon)
bool	addExtraJoint (int bodyIndex1, Link *link1, int bodyIndex2, Link *link2, const double *link1LocalPos, const double *link2LocalPos, const short jointType, const double *jointAxis)
void	clearCollisionCheckLinkPairs ()
void	clearExternalForces ()
	ConstraintForceSolver (WorldBase &world)
void	enableConstraintForceOutput (bool on)
double	getAllowedPenetrationDepth () const
void	initialize (void)
void	setAllowedPenetrationDepth (double dVal)
void	setGaussSeidelParameters (int maxNumIteration, int numInitialIteration, double maxRelError)
void	setNegativeVelocityRatioForPenetration (double ratio)
void	solve (OpenHRP::CollisionSequence &corbaCollisionSequence)
void	useBuiltinCollisionDetector (bool on)
	~ConstraintForceSolver ()

Private Attributes
CFSImpl *	impl

Detailed Description

Definition at line 29 of file ConstraintForceSolver.h.

Constructor & Destructor Documentation

ConstraintForceSolver()

ConstraintForceSolver::ConstraintForceSolver

(

WorldBase &

world

)

Definition at line 2172 of file ConstraintForceSolver.cpp.

~ConstraintForceSolver()

ConstraintForceSolver::~ConstraintForceSolver

(

)

Definition at line 2178 of file ConstraintForceSolver.cpp.

Member Function Documentation

addCollisionCheckLinkPair()

bool ConstraintForceSolver::addCollisionCheckLinkPair	(	int	bodyIndex1,
		Link *	link1,
		int	bodyIndex2,
		Link *	link2,
		double	muStatic,
		double	muDynamic,
		double	culling_thresh,
		double	restitution,
		double	epsilon
	)

Definition at line 2185 of file ConstraintForceSolver.cpp.

addExtraJoint()

bool ConstraintForceSolver::addExtraJoint	(	int	bodyIndex1,
		Link *	link1,
		int	bodyIndex2,
		Link *	link2,
		const double *	link1LocalPos,
		const double *	link2LocalPos,
		const short	jointType,
		const double *	jointAxis
	)

Definition at line 2197 of file ConstraintForceSolver.cpp.

clearCollisionCheckLinkPairs()

void ConstraintForceSolver::clearCollisionCheckLinkPairs

(

)

Definition at line 2191 of file ConstraintForceSolver.cpp.

clearExternalForces()

void ConstraintForceSolver::clearExternalForces

(

)

Definition at line 2241 of file ConstraintForceSolver.cpp.

enableConstraintForceOutput()

void ConstraintForceSolver::enableConstraintForceOutput

(

bool

on

)

Definition at line 2211 of file ConstraintForceSolver.cpp.

getAllowedPenetrationDepth()

double ConstraintForceSolver::getAllowedPenetrationDepth

(

)

const

Definition at line 2251 of file ConstraintForceSolver.cpp.

initialize()

void ConstraintForceSolver::initialize

(

void

)

Definition at line 2229 of file ConstraintForceSolver.cpp.

setAllowedPenetrationDepth()

void ConstraintForceSolver::setAllowedPenetrationDepth

(

double

dVal

)

Definition at line 2246 of file ConstraintForceSolver.cpp.

setGaussSeidelParameters()

void ConstraintForceSolver::setGaussSeidelParameters	(	int	maxNumIteration,
		int	numInitialIteration,
		double	maxRelError
	)

Definition at line 2203 of file ConstraintForceSolver.cpp.

setNegativeVelocityRatioForPenetration()

void ConstraintForceSolver::setNegativeVelocityRatioForPenetration

(

double

ratio

)

Definition at line 2222 of file ConstraintForceSolver.cpp.

solve()

void ConstraintForceSolver::solve

(

OpenHRP::CollisionSequence &

corbaCollisionSequence

)

Definition at line 2235 of file ConstraintForceSolver.cpp.

useBuiltinCollisionDetector()

void ConstraintForceSolver::useBuiltinCollisionDetector

(

bool

on

)

Definition at line 2217 of file ConstraintForceSolver.cpp.

Member Data Documentation

impl

CFSImpl* hrp::ConstraintForceSolver::impl

private

Definition at line 31 of file ConstraintForceSolver.h.

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

• ConstraintForceSolver.h
• ConstraintForceSolver.cpp