#include <World.h>
Inheritance diagram for hrp::World< TConstraintForceSolver >:
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 Vector3 & | getGravityAcceleration () |
| 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< BodyInfo > | bodyInfoArray |
| 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>
|
inline |
Definition at line 210 of file hrplib/hrpModel/World.h.
Member Function Documentation
◆ calcNextState()
template<class TConstraintForceSolver>
|
inlinevirtual |
Definition at line 217 of file hrplib/hrpModel/World.h.
◆ initialize()
template<class TConstraintForceSolver>
|
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: