Public Member Functions | Private Member Functions | Private Attributes
DynamicsSimulator_impl Class Reference

#include <DynamicsSimulator_impl.h>

List of all members.

Public Member Functions

virtual void calcCharacterForwardKinematics (const char *characterName)
virtual void calcCharacterForwardKinematics (const char *characterName)
virtual CORBA::Boolean calcCharacterInverseKinematics (const char *characterName, const char *baseLink, const char *targetLink, const LinkPosition &target)
 not implemented as a server function (08/13/2007)
virtual CORBA::Boolean calcCharacterInverseKinematics (const char *characterName, const char *baseLink, const char *targetLink, const LinkPosition &target)
virtual void calcCharacterJacobian (const char *characterName, const char *baseLink, const char *targetLink, DblSequence_out jacobian)
virtual void calcCharacterJacobian (const char *characterName, const char *baseLink, const char *targetLink, DblSequence_out jacobian)
virtual void calcWorldForwardKinematics ()
virtual void calcWorldForwardKinematics ()
virtual bool checkCollision (bool checkAll)
virtual bool checkCollision (bool checkAll)
virtual DistanceSequence * checkDistance ()
virtual DistanceSequence * checkDistance ()
virtual LinkPairSequence * checkIntersection (CORBA::Boolean checkAll)
virtual LinkPairSequence * checkIntersection (CORBA::Boolean checkAll)
virtual void destroy ()
virtual void destroy ()
 DynamicsSimulator_impl (CORBA::ORB_ptr orb)
 DynamicsSimulator_impl (CORBA::ORB_ptr orb)
virtual void getCharacterAllLinkData (const char *characterName, OpenHRP::DynamicsSimulator::LinkDataType type, DblSequence_out wdata)
virtual void getCharacterAllLinkData (const char *characterName, OpenHRP::DynamicsSimulator::LinkDataType type, DblSequence_out wdata)
virtual CORBA::Boolean getCharacterCollidingPairs (const char *characterName, LinkPairSequence_out pairs)
virtual CORBA::Boolean getCharacterCollidingPairs (const char *characterName, LinkPairSequence_out pairs)
virtual void getCharacterLinkData (const char *characterName, const char *link, OpenHRP::DynamicsSimulator::LinkDataType type, DblSequence_out rdata)
virtual void getCharacterLinkData (const char *characterName, const char *link, OpenHRP::DynamicsSimulator::LinkDataType type, DblSequence_out rdata)
virtual void getCharacterSensorState (const char *characterName, SensorState_out sstate)
virtual void getCharacterSensorState (const char *characterName, SensorState_out sstate)
virtual void getCharacterSensorValues (const char *characterName, const char *sensorName, DblSequence_out values)
virtual void getCharacterSensorValues (const char *characterName, const char *sensorName, DblSequence_out values)
virtual void getExtraJointConstraintForce (const char *characterName, const char *extraJointName, DblSequence6_out contactForce)
virtual void getExtraJointConstraintForce (const char *characterName, const char *extraJointName, DblSequence6_out contactForce)
virtual void getGVector (DblSequence3_out wdata)
virtual void getGVector (DblSequence3_out wdata)
virtual void getWorldState (WorldState_out state)
virtual void getWorldState (WorldState_out wstate)
virtual void init (CORBA::Double timeStep, OpenHRP::DynamicsSimulator::IntegrateMethod integrateOpt, OpenHRP::DynamicsSimulator::SensorOption sensorOpt)
virtual void init (CORBA::Double timeStep, OpenHRP::DynamicsSimulator::IntegrateMethod integrateOpt, OpenHRP::DynamicsSimulator::SensorOption sensorOpt)
virtual void initSimulation ()
virtual void initSimulation ()
virtual void registerCharacter (const char *name, BodyInfo_ptr cinfo)
virtual void registerCharacter (const char *name, BodyInfo_ptr binfo)
virtual void registerCollisionCheckPair (const char *char1, const char *name1, const char *char2, const char *name2, CORBA::Double staticFriction, CORBA::Double slipFriction, const DblSequence6 &K, const DblSequence6 &C, const double culling_thresh, const double restitution)
virtual void registerCollisionCheckPair (const char *char1, const char *name1, const char *char2, const char *name2, CORBA::Double staticFriction, CORBA::Double slipFriction, const DblSequence6 &K, const DblSequence6 &C, const double culling_thresh, const double restitution)
virtual void registerExtraJoint (const char *charName1, const char *linkName1, const char *charName2, const char *linkName2, const DblSequence3 &link1LocalPos, const DblSequence3 &link2LocalPos, const ExtraJointType jointType, const DblSequence3 &jointAxis, const char *extraJointName)
virtual void registerExtraJoint (const char *charName1, const char *linkName1, const char *charName2, const char *linkName2, const DblSequence3 &link1LocalPos, const DblSequence3 &link2LocalPos, const ExtraJointType jointType, const DblSequence3 &jointAxis, const char *extraJointName)
virtual void registerIntersectionCheckPair (const char *char1, const char *name1, const char *char2, const char *name2, const double tolerance)
virtual void registerIntersectionCheckPair (const char *char1, const char *name1, const char *char2, const char *name2, const double tolerance)
virtual void setCharacterAllJointModes (const char *characterName, OpenHRP::DynamicsSimulator::JointDriveMode jointMode)
virtual void setCharacterAllJointModes (const char *characterName, OpenHRP::DynamicsSimulator::JointDriveMode jointMode)
virtual void setCharacterAllLinkData (const char *characterName, OpenHRP::DynamicsSimulator::LinkDataType type, const DblSequence &wdata)
virtual void setCharacterAllLinkData (const char *characterName, OpenHRP::DynamicsSimulator::LinkDataType type, const DblSequence &wdata)
virtual void setCharacterLinkData (const char *characterName, const char *link, OpenHRP::DynamicsSimulator::LinkDataType type, const DblSequence &data)
virtual void setCharacterLinkData (const char *characterName, const char *link, OpenHRP::DynamicsSimulator::LinkDataType type, const DblSequence &data)
virtual void setGVector (const DblSequence3 &wdata)
virtual void setGVector (const DblSequence3 &wdata)
virtual void stepSimulation ()
virtual void stepSimulation ()
 ~DynamicsSimulator_impl ()
 ~DynamicsSimulator_impl ()

Private Member Functions

void _setupCharacterData ()
void _setupCharacterData ()
void _updateCharacterPositions ()
void _updateCharacterPositions ()
void _updateSensorStates ()
void _updateSensorStates ()
void registerCollisionPair2CD (const std::string &, const std::string &, const std::string &, const std::string &)
void registerCollisionPair2CD (const std::string &, const std::string &, const std::string &, const std::string &)

Private Attributes

CharacterPositionSequence_var allCharacterPositions
SensorStateSequence_var allCharacterSensorStates
LinkPairSequence_var collidingLinkPairs
CollisionDetector_var collisionDetector
CollisionSequence_var collisions
bool isFirstSimulationLoop
bool needToUpdatePositions
bool needToUpdateSensorStates
CORBA::ORB_var orb_
TimeMeasure timeMeasure1
TimeMeasure timeMeasure2
TimeMeasure timeMeasure3
bool timeMeasureFinished
bool timeMeasureStarted
::World world
hrp::World
< hrp::ConstraintForceSolver
world

Detailed Description

DynamicsSimulator_impl class

Definition at line 35 of file AistDynamicsSimulator/DynamicsSimulator_impl.h.


Constructor & Destructor Documentation


Member Function Documentation

virtual void DynamicsSimulator_impl::calcCharacterForwardKinematics ( const char *  characterName) [virtual]
virtual CORBA::Boolean DynamicsSimulator_impl::calcCharacterInverseKinematics ( const char *  characterName,
const char *  baseLink,
const char *  targetLink,
const LinkPosition &  target 
) [virtual]

not implemented as a server function (08/13/2007)

CORBA::Boolean DynamicsSimulator_impl::calcCharacterInverseKinematics ( const char *  characterName,
const char *  baseLink,
const char *  targetLink,
const LinkPosition &  target 
) [virtual]
virtual void DynamicsSimulator_impl::calcCharacterJacobian ( const char *  characterName,
const char *  baseLink,
const char *  targetLink,
DblSequence_out  jacobian 
) [virtual]
void DynamicsSimulator_impl::calcCharacterJacobian ( const char *  characterName,
const char *  baseLink,
const char *  targetLink,
DblSequence_out  jacobian 
) [virtual]
bool DynamicsSimulator_impl::checkCollision ( bool  checkAll) [virtual]
virtual bool DynamicsSimulator_impl::checkCollision ( bool  checkAll) [virtual]
DistanceSequence * DynamicsSimulator_impl::checkDistance ( ) [virtual]
virtual DistanceSequence* DynamicsSimulator_impl::checkDistance ( ) [virtual]
LinkPairSequence * DynamicsSimulator_impl::checkIntersection ( CORBA::Boolean  checkAll) [virtual]
virtual LinkPairSequence* DynamicsSimulator_impl::checkIntersection ( CORBA::Boolean  checkAll) [virtual]
virtual void DynamicsSimulator_impl::destroy ( ) [virtual]
virtual void DynamicsSimulator_impl::getCharacterAllLinkData ( const char *  characterName,
OpenHRP::DynamicsSimulator::LinkDataType  type,
DblSequence_out  wdata 
) [virtual]
void DynamicsSimulator_impl::getCharacterAllLinkData ( const char *  characterName,
OpenHRP::DynamicsSimulator::LinkDataType  type,
DblSequence_out  wdata 
) [virtual]
virtual CORBA::Boolean DynamicsSimulator_impl::getCharacterCollidingPairs ( const char *  characterName,
LinkPairSequence_out  pairs 
) [virtual]
CORBA::Boolean DynamicsSimulator_impl::getCharacterCollidingPairs ( const char *  characterName,
LinkPairSequence_out  pairs 
) [virtual]
Note:
S L O W. If CORBA sequence resize does not fiddle with the memory allocation one loop will do. Two to be on the safe side.

Definition at line 1373 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

virtual void DynamicsSimulator_impl::getCharacterLinkData ( const char *  characterName,
const char *  link,
OpenHRP::DynamicsSimulator::LinkDataType  type,
DblSequence_out  rdata 
) [virtual]
void DynamicsSimulator_impl::getCharacterLinkData ( const char *  characterName,
const char *  link,
OpenHRP::DynamicsSimulator::LinkDataType  type,
DblSequence_out  rdata 
) [virtual]
virtual void DynamicsSimulator_impl::getCharacterSensorState ( const char *  characterName,
SensorState_out  sstate 
) [virtual]
void DynamicsSimulator_impl::getCharacterSensorState ( const char *  characterName,
SensorState_out  sstate 
) [virtual]
virtual void DynamicsSimulator_impl::getCharacterSensorValues ( const char *  characterName,
const char *  sensorName,
DblSequence_out  values 
) [virtual]
void DynamicsSimulator_impl::getCharacterSensorValues ( const char *  characterName,
const char *  sensorName,
DblSequence_out  values 
) [virtual]
virtual void DynamicsSimulator_impl::getExtraJointConstraintForce ( const char *  characterName,
const char *  extraJointName,
DblSequence6_out  contactForce 
) [virtual]
void DynamicsSimulator_impl::getExtraJointConstraintForce ( const char *  characterName,
const char *  extraJointName,
DblSequence6_out  contactForce 
) [virtual]
Todo:
implement this method
Todo:
implement this method

Definition at line 452 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

virtual void DynamicsSimulator_impl::getGVector ( DblSequence3_out  wdata) [virtual]
void DynamicsSimulator_impl::getGVector ( DblSequence3_out  wdata) [virtual]
virtual void DynamicsSimulator_impl::getWorldState ( WorldState_out  state) [virtual]
void DynamicsSimulator_impl::getWorldState ( WorldState_out  wstate) [virtual]
virtual void DynamicsSimulator_impl::init ( CORBA::Double  timeStep,
OpenHRP::DynamicsSimulator::IntegrateMethod  integrateOpt,
OpenHRP::DynamicsSimulator::SensorOption  sensorOpt 
) [virtual]
void DynamicsSimulator_impl::init ( CORBA::Double  timeStep,
OpenHRP::DynamicsSimulator::IntegrateMethod  integrateOpt,
OpenHRP::DynamicsSimulator::SensorOption  sensorOpt 
) [virtual]
virtual void DynamicsSimulator_impl::registerCharacter ( const char *  name,
BodyInfo_ptr  cinfo 
) [virtual]
void DynamicsSimulator_impl::registerCharacter ( const char *  name,
BodyInfo_ptr  binfo 
) [virtual]
virtual void DynamicsSimulator_impl::registerCollisionCheckPair ( const char *  char1,
const char *  name1,
const char *  char2,
const char *  name2,
CORBA::Double  staticFriction,
CORBA::Double  slipFriction,
const DblSequence6 &  K,
const DblSequence6 &  C,
const double  culling_thresh,
const double  restitution 
) [virtual]
void DynamicsSimulator_impl::registerCollisionCheckPair ( const char *  char1,
const char *  name1,
const char *  char2,
const char *  name2,
CORBA::Double  staticFriction,
CORBA::Double  slipFriction,
const DblSequence6 &  K,
const DblSequence6 &  C,
const double  culling_thresh,
const double  restitution 
) [virtual]
void DynamicsSimulator_impl::registerCollisionPair2CD ( const std::string &  ,
const std::string &  ,
const std::string &  ,
const std::string &   
) [private]
void DynamicsSimulator_impl::registerCollisionPair2CD ( const std::string &  ,
const std::string &  ,
const std::string &  ,
const std::string &   
) [private]
virtual void DynamicsSimulator_impl::registerExtraJoint ( const char *  charName1,
const char *  linkName1,
const char *  charName2,
const char *  linkName2,
const DblSequence3 &  link1LocalPos,
const DblSequence3 &  link2LocalPos,
const ExtraJointType  jointType,
const DblSequence3 &  jointAxis,
const char *  extraJointName 
) [virtual]
void DynamicsSimulator_impl::registerExtraJoint ( const char *  charName1,
const char *  linkName1,
const char *  charName2,
const char *  linkName2,
const DblSequence3 &  link1LocalPos,
const DblSequence3 &  link2LocalPos,
const ExtraJointType  jointType,
const DblSequence3 &  jointAxis,
const char *  extraJointName 
) [virtual]
virtual void DynamicsSimulator_impl::registerIntersectionCheckPair ( const char *  char1,
const char *  name1,
const char *  char2,
const char *  name2,
const double  tolerance 
) [virtual]
void DynamicsSimulator_impl::registerIntersectionCheckPair ( const char *  char1,
const char *  name1,
const char *  char2,
const char *  name2,
const double  tolerance 
) [virtual]
virtual void DynamicsSimulator_impl::setCharacterAllJointModes ( const char *  characterName,
OpenHRP::DynamicsSimulator::JointDriveMode  jointMode 
) [virtual]
void DynamicsSimulator_impl::setCharacterAllJointModes ( const char *  characterName,
OpenHRP::DynamicsSimulator::JointDriveMode  jointMode 
) [virtual]
virtual void DynamicsSimulator_impl::setCharacterAllLinkData ( const char *  characterName,
OpenHRP::DynamicsSimulator::LinkDataType  type,
const DblSequence &  wdata 
) [virtual]
void DynamicsSimulator_impl::setCharacterAllLinkData ( const char *  characterName,
OpenHRP::DynamicsSimulator::LinkDataType  type,
const DblSequence &  wdata 
) [virtual]
virtual void DynamicsSimulator_impl::setCharacterLinkData ( const char *  characterName,
const char *  link,
OpenHRP::DynamicsSimulator::LinkDataType  type,
const DblSequence &  data 
) [virtual]
void DynamicsSimulator_impl::setCharacterLinkData ( const char *  characterName,
const char *  link,
OpenHRP::DynamicsSimulator::LinkDataType  type,
const DblSequence &  data 
) [virtual]
virtual void DynamicsSimulator_impl::setGVector ( const DblSequence3 &  wdata) [virtual]
void DynamicsSimulator_impl::setGVector ( const DblSequence3 &  wdata) [virtual]

Member Data Documentation

CharacterPositionSequence_var DynamicsSimulator_impl::allCharacterPositions [private]
SensorStateSequence_var DynamicsSimulator_impl::allCharacterSensorStates [private]
LinkPairSequence_var DynamicsSimulator_impl::collidingLinkPairs [private]
CollisionDetector_var DynamicsSimulator_impl::collisionDetector [private]
CollisionSequence_var DynamicsSimulator_impl::collisions [private]

Definition at line 54 of file UtDynamicsSimulator/DynamicsSimulator_impl.h.

CORBA::ORB_var DynamicsSimulator_impl::orb_ [private]

ORB

Definition at line 41 of file AistDynamicsSimulator/DynamicsSimulator_impl.h.

Definition at line 41 of file UtDynamicsSimulator/DynamicsSimulator_impl.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 Apr 11 2019 03:30:21