Public Member Functions | Private Member Functions | Private Attributes | Friends | List of all members
pSubChain Class Reference

Node for schedule tree; represents a partial chain. More...

#include <psim.h>

Public Member Functions

 pSubChain (pSim *_sim, pSubChain *_p, pJoint *_p0, pJoint *_p1)
 
 pSubChain (pSim *_sim, pSubChain *_p, pLink *_pl)
 
 ~pSubChain ()
 

Private Member Functions

void calc_acc ()
 
void calc_acc_body ()
 
void calc_acc_leaf ()
 
int calc_contact_force (double timestep)
 
void calc_dvel ()
 
void calc_dvel_body ()
 
void calc_dvel_leaf ()
 
void calc_inertia ()
 
void calc_inertia_body ()
 
void calc_inertia_leaf ()
 
void clear_f_final ()
 
void col_disassembly ()
 
void col_disassembly_body ()
 
void disassembly ()
 
void disassembly_body ()
 
void disassembly_leaf ()
 
void dump (ostream &ost)
 
int get_outer_index (pJoint *pj)
 
void init ()
 
int num_leaves ()
 
int schedule_depth ()
 
int total_cost ()
 

Private Attributes

fVec acc_final
 
fVecacc_temp
 
PSIM_AXIS axis
 
pSubChainchildren [2]
 
fVec colf_temp
 
intconst_index
 
fVec da6
 
fVec f_temp
 
fMat Gamma
 
fMat Gamma_inv
 
fMat IW
 
intjoint_index
 
fMat ** Lambda
 
int last_index [2]
 
Jointlast_joint
 
pJointlast_pjoints [2]
 
pLink ** links
 
int n_const
 
int n_dof
 
int n_links
 
int n_outer_joints
 
pJoint ** outer_joints
 
intouter_joints_index
 
intouter_joints_origin
 
fMat P
 
pSubChainparent
 
pSimsim
 
fVec tau
 
fVecvel_temp
 
fMat W
 

Friends

class pJoint
 
class pLink
 
class pSim
 

Detailed Description

Node for schedule tree; represents a partial chain.

Definition at line 190 of file psim.h.

Constructor & Destructor Documentation

◆ pSubChain() [1/2]

pSubChain::pSubChain ( pSim _sim,
pSubChain _p,
pJoint _p0,
pJoint _p1 
)
inline

Definition at line 196 of file psim.h.

◆ pSubChain() [2/2]

pSubChain::pSubChain ( pSim _sim,
pSubChain _p,
pLink _pl 
)
inline

Definition at line 277 of file psim.h.

◆ ~pSubChain()

pSubChain::~pSubChain ( )
inline

Definition at line 306 of file psim.h.

Member Function Documentation

◆ calc_acc()

void pSubChain::calc_acc ( )
private

Definition at line 887 of file update.cpp.

◆ calc_acc_body()

void pSubChain::calc_acc_body ( )
private

Definition at line 982 of file update.cpp.

◆ calc_acc_leaf()

void pSubChain::calc_acc_leaf ( )
private

Definition at line 952 of file update.cpp.

◆ calc_contact_force()

int pSubChain::calc_contact_force ( double  timestep)
private

Definition at line 386 of file update_lcp.cpp.

◆ calc_dvel()

void pSubChain::calc_dvel ( )
private

Definition at line 609 of file update.cpp.

◆ calc_dvel_body()

void pSubChain::calc_dvel_body ( )
private

Definition at line 634 of file update.cpp.

◆ calc_dvel_leaf()

void pSubChain::calc_dvel_leaf ( )
private

Definition at line 625 of file update.cpp.

◆ calc_inertia()

void pSubChain::calc_inertia ( )
private

Definition at line 199 of file update.cpp.

◆ calc_inertia_body()

void pSubChain::calc_inertia_body ( )
private

Definition at line 313 of file update.cpp.

◆ calc_inertia_leaf()

void pSubChain::calc_inertia_leaf ( )
private

Definition at line 268 of file update.cpp.

◆ clear_f_final()

void pSubChain::clear_f_final ( )
private

Definition at line 378 of file update_lcp.cpp.

◆ col_disassembly()

void pSubChain::col_disassembly ( )
private

Definition at line 681 of file update.cpp.

◆ col_disassembly_body()

void pSubChain::col_disassembly_body ( )
private

Definition at line 693 of file update.cpp.

◆ disassembly()

void pSubChain::disassembly ( )
private

Definition at line 1160 of file update.cpp.

◆ disassembly_body()

void pSubChain::disassembly_body ( )
private

Definition at line 1283 of file update.cpp.

◆ disassembly_leaf()

void pSubChain::disassembly_leaf ( )
private

Definition at line 1224 of file update.cpp.

◆ dump()

void pSubChain::dump ( ostream &  ost)
private

Definition at line 341 of file psim.cpp.

◆ get_outer_index()

int pSubChain::get_outer_index ( pJoint pj)
inlineprivate

Definition at line 327 of file psim.h.

◆ init()

void pSubChain::init ( )
private

Definition at line 1140 of file schedule.cpp.

◆ num_leaves()

int pSubChain::num_leaves ( )
private

Definition at line 70 of file psim.cpp.

◆ schedule_depth()

int pSubChain::schedule_depth ( )
private

Definition at line 56 of file psim.cpp.

◆ total_cost()

int pSubChain::total_cost ( )
private

Definition at line 39 of file psim.cpp.

Friends And Related Function Documentation

◆ pJoint

friend class pJoint
friend

Definition at line 193 of file psim.h.

◆ pLink

friend class pLink
friend

Definition at line 194 of file psim.h.

◆ pSim

friend class pSim
friend

Definition at line 192 of file psim.h.

Member Data Documentation

◆ acc_final

fVec pSubChain::acc_final
private

Definition at line 396 of file psim.h.

◆ acc_temp

fVec* pSubChain::acc_temp
private

Definition at line 393 of file psim.h.

◆ axis

PSIM_AXIS pSubChain::axis
private

Definition at line 345 of file psim.h.

◆ children

pSubChain* pSubChain::children[2]
private

Definition at line 342 of file psim.h.

◆ colf_temp

fVec pSubChain::colf_temp
private

Definition at line 408 of file psim.h.

◆ const_index

int* pSubChain::const_index
private

Definition at line 357 of file psim.h.

◆ da6

fVec pSubChain::da6
private

Definition at line 391 of file psim.h.

◆ f_temp

fVec pSubChain::f_temp
private

Definition at line 395 of file psim.h.

◆ Gamma

fMat pSubChain::Gamma
private

Definition at line 386 of file psim.h.

◆ Gamma_inv

fMat pSubChain::Gamma_inv
private

Definition at line 387 of file psim.h.

◆ IW

fMat pSubChain::IW
private

Definition at line 392 of file psim.h.

◆ joint_index

int* pSubChain::joint_index
private

Definition at line 358 of file psim.h.

◆ Lambda

fMat** pSubChain::Lambda
private

Definition at line 389 of file psim.h.

◆ last_index

int pSubChain::last_index[2]
private

Definition at line 346 of file psim.h.

◆ last_joint

Joint* pSubChain::last_joint
private

Definition at line 344 of file psim.h.

◆ last_pjoints

pJoint* pSubChain::last_pjoints[2]
private

Definition at line 343 of file psim.h.

◆ links

pLink** pSubChain::links
private

Definition at line 352 of file psim.h.

◆ n_const

int pSubChain::n_const
private

Definition at line 356 of file psim.h.

◆ n_dof

int pSubChain::n_dof
private

Definition at line 355 of file psim.h.

◆ n_links

int pSubChain::n_links
private

Definition at line 353 of file psim.h.

◆ n_outer_joints

int pSubChain::n_outer_joints
private

Definition at line 351 of file psim.h.

◆ outer_joints

pJoint** pSubChain::outer_joints
private

Definition at line 348 of file psim.h.

◆ outer_joints_index

int* pSubChain::outer_joints_index
private

Definition at line 350 of file psim.h.

◆ outer_joints_origin

int* pSubChain::outer_joints_origin
private

Definition at line 349 of file psim.h.

◆ P

fMat pSubChain::P
private

Definition at line 384 of file psim.h.

◆ parent

pSubChain* pSubChain::parent
private

Definition at line 341 of file psim.h.

◆ sim

pSim* pSubChain::sim
private

Definition at line 340 of file psim.h.

◆ tau

fVec pSubChain::tau
private

Definition at line 394 of file psim.h.

◆ vel_temp

fVec* pSubChain::vel_temp
private

Definition at line 407 of file psim.h.

◆ W

fMat pSubChain::W
private

Definition at line 392 of file psim.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