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
fVec *	acc_temp
PSIM_AXIS	axis
pSubChain *	children [2]
fVec	colf_temp
int *	const_index
fVec	da6
fVec	f_temp
fMat	Gamma
fMat	Gamma_inv
fMat	IW
int *	joint_index
fMat **	Lambda
int	last_index [2]
Joint *	last_joint
pJoint *	last_pjoints [2]
pLink **	links
int	n_const
int	n_dof
int	n_links
int	n_outer_joints
pJoint **	outer_joints
int *	outer_joints_index
int *	outer_joints_origin
fMat	P
pSubChain *	parent
pSim *	sim
fVec	tau
fVec *	vel_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.

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

• psim.h
• psim.cpp
• schedule.cpp
• update.cpp
• update_lcp.cpp