Public Member Functions | Public Attributes | List of all members
hrp::World< TConstraintForceSolver > Class Template Reference

#include <World.h>

Inheritance diagram for hrp::World< TConstraintForceSolver >:
Inheritance graph
[legend]

Public Member Functions

virtual void calcNextState (OpenHRP::CollisionSequence &corbaCollisionSequence)
 
virtual void initialize ()
 initialize this world. This must be called after all bodies are registered. More...
 
 World ()
 
- Public Member Functions inherited from hrp::WorldBase
int addBody (BodyPtr body)
 add body to this world More...
 
BodyPtr body (int index)
 get body by index More...
 
BodyPtr body (const std::string &name)
 get body by name More...
 
int bodyIndex (const std::string &name)
 get index of body by name More...
 
virtual void calcNextState ()
 compute forward dynamics and update current state More...
 
void clearBodies ()
 clear bodies in this world More...
 
void clearCollisionPairs ()
 clear collision pairs More...
 
double currentTime (void) const
 get current time More...
 
void enableSensors (bool on)
 enable/disable sensor simulation More...
 
ForwardDynamicsPtr forwardDynamics (int index)
 get forward dynamics computation method for body More...
 
const Vector3getGravityAcceleration ()
 get gravity acceleration More...
 
std::pair< int, bool > getIndexOfLinkPairs (Link *link1, Link *link2)
 get index of link pairs More...
 
unsigned int numBodies ()
 get the number of bodies in this world More...
 
void setCurrentTime (double tm)
 set current time More...
 
void setEulerMethod ()
 choose euler method for integration More...
 
void setGravityAcceleration (const Vector3 &g)
 set gravity acceleration More...
 
void setRungeKuttaMethod ()
 choose runge-kutta method for integration More...
 
void setTimeStep (double dt)
 set time step More...
 
double timeStep (void) const
 get time step More...
 
 WorldBase ()
 
virtual ~WorldBase ()
 

Public Attributes

TConstraintForceSolver constraintForceSolver
 

Additional Inherited Members

- Protected Attributes inherited from hrp::WorldBase
std::vector< BodyInfobodyInfoArray
 
double currentTime_
 
bool sensorsAreEnabled
 
double timeStep_
 

Detailed Description

template<class TConstraintForceSolver>
class hrp::World< TConstraintForceSolver >

Definition at line 205 of file hrplib/hrpModel/World.h.

Constructor & Destructor Documentation

◆ World()

template<class TConstraintForceSolver>
hrp::World< TConstraintForceSolver >::World ( )
inline

Definition at line 210 of file hrplib/hrpModel/World.h.

Member Function Documentation

◆ calcNextState()

template<class TConstraintForceSolver>
virtual void hrp::World< TConstraintForceSolver >::calcNextState ( OpenHRP::CollisionSequence &  corbaCollisionSequence)
inlinevirtual

Definition at line 217 of file hrplib/hrpModel/World.h.

◆ initialize()

template<class TConstraintForceSolver>
virtual void hrp::World< TConstraintForceSolver >::initialize ( void  )
inlinevirtual

initialize this world. This must be called after all bodies are registered.

Reimplemented from hrp::WorldBase.

Definition at line 212 of file hrplib/hrpModel/World.h.

Member Data Documentation

◆ constraintForceSolver

template<class TConstraintForceSolver>
TConstraintForceSolver hrp::World< TConstraintForceSolver >::constraintForceSolver

Definition at line 208 of file hrplib/hrpModel/World.h.


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


openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Thu Sep 8 2022 02:24:09