ODE_World Class Reference

#include <ODE_World.h>

Inheritance diagram for ODE_World:

Classes
struct	LinkPair

Public Types
typedef std::vector< LinkPair >	LinkPairArray

Public Member Functions
void	addBody (OpenHRP::BodyInfo_ptr body, const char *name)
	add body to this world More...
void	addCollisionPair (OpenHRP::LinkPair &linkPair)
void	calcNextState (OpenHRP::CollisionSequence &corbaCollisionSequence)
	compute forward dynamics and update current state More...
void	clearExternalForces ()
void	getGravityAcceleration (dVector3 &gravity)
	get gravity acceleration More...
dJointGroupID	getJointGroupID ()
dSpaceID	getSpaceID ()
dWorldID	getWorldID ()
void	initialize ()
	initialize this world. This must be called after all bodies are registered. More...
	ODE_World ()
void	setGravityAcceleration (const dVector3 &gravity)
	set gravity acceleration More...
void	useInternalCollisionDetector (bool use)
	~ODE_World ()
Public Member Functions inherited from hrp::WorldBase
int	addBody (BodyPtr body)
	add body to this world More...
BodyPtr	body (const std::string &name)
	get body by name More...
BodyPtr	body (int index)
	get body by index 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
OpenHRP::CollisionSequence	collisions
LinkPairArray	linkPairs

Private Member Functions
void	updateSensors ()

Private Attributes
dJointGroupID	contactgroupId
dSpaceID	spaceId
bool	useInternalCollisionDetector_
dWorldID	worldId

Additional Inherited Members
Protected Attributes inherited from hrp::WorldBase
std::vector< BodyInfo >	bodyInfoArray
double	currentTime_
bool	sensorsAreEnabled
double	timeStep_

Detailed Description

Definition at line 68 of file ODE_World.h.

Member Typedef Documentation

LinkPairArray

typedef std::vector<LinkPair> ODE_World::LinkPairArray

Definition at line 122 of file ODE_World.h.

Constructor & Destructor Documentation

ODE_World()

ODE_World::ODE_World

(

)

Definition at line 15 of file ODE_World.cpp.

~ODE_World()

ODE_World::~ODE_World

(

)

Definition at line 32 of file ODE_World.cpp.

Member Function Documentation

addBody()

void ODE_World::addBody	(	OpenHRP::BodyInfo_ptr	body,
		const char *	name
	)

add body to this world

Parameters

body

Returns

index of the body

Note

This must be called before initialize() is called.

Definition at line 55 of file ODE_World.cpp.

addCollisionPair()

void ODE_World::addCollisionPair

(

OpenHRP::LinkPair &

linkPair

)

Definition at line 64 of file ODE_World.cpp.

calcNextState()

void ODE_World::calcNextState

(

OpenHRP::CollisionSequence &

corbaCollisionSequence

)

compute forward dynamics and update current state

Definition at line 104 of file ODE_World.cpp.

clearExternalForces()

void ODE_World::clearExternalForces

(

)

Definition at line 193 of file ODE_World.cpp.

getGravityAcceleration()

void ODE_World::getGravityAcceleration

(

dVector3 &

gravity

)

get gravity acceleration

Returns

gravity accleration

Definition at line 50 of file ODE_World.cpp.

getJointGroupID()

dJointGroupID ODE_World::getJointGroupID ( )

inline

Definition at line 114 of file ODE_World.h.

getSpaceID()

dSpaceID ODE_World::getSpaceID ( )

inline

Definition at line 113 of file ODE_World.h.

getWorldID()

dWorldID ODE_World::getWorldID ( )

inline

Definition at line 112 of file ODE_World.h.

initialize()

void ODE_World::initialize ( )

virtual

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

Reimplemented from hrp::WorldBase.

Definition at line 173 of file ODE_World.cpp.

setGravityAcceleration()

void ODE_World::setGravityAcceleration

(

const dVector3 &

gravity

)

set gravity acceleration

Parameters

g	gravity acceleration[m/s^2]

Definition at line 45 of file ODE_World.cpp.

updateSensors()

void ODE_World::updateSensors ( )

private

Definition at line 197 of file ODE_World.cpp.

useInternalCollisionDetector()

void ODE_World::useInternalCollisionDetector ( bool  use )

inline

Definition at line 106 of file ODE_World.h.

Member Data Documentation

collisions

OpenHRP::CollisionSequence ODE_World::collisions

Definition at line 116 of file ODE_World.h.

contactgroupId

dJointGroupID ODE_World::contactgroupId

private

Definition at line 128 of file ODE_World.h.

linkPairs

LinkPairArray ODE_World::linkPairs

Definition at line 123 of file ODE_World.h.

spaceId

dSpaceID ODE_World::spaceId

private

Definition at line 127 of file ODE_World.h.

useInternalCollisionDetector_

bool ODE_World::useInternalCollisionDetector_

private

Definition at line 130 of file ODE_World.h.

worldId

dWorldID ODE_World::worldId

private

Definition at line 126 of file ODE_World.h.

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

• ODE_World.h
• ODE_World.cpp