ConstraintForceSolver.h
Go to the documentation of this file.
00001 /*
00002  * Copyright (c) 2008, AIST, the University of Tokyo and General Robotix Inc.
00003  * All rights reserved. This program is made available under the terms of the
00004  * Eclipse Public License v1.0 which accompanies this distribution, and is
00005  * available at http://www.eclipse.org/legal/epl-v10.html
00006  * Contributors:
00007  * National Institute of Advanced Industrial Science and Technology (AIST)
00008  */
00014 #ifndef OPENHRP_CONSTRAINT_FORCE_SOLVER_H_INCLUDED
00015 #define OPENHRP_CONSTRAINT_FORCE_SOLVER_H_INCLUDED
00016 
00017 #include "Config.h"
00018 
00019 namespace OpenHRP {
00020         class CollisionSequence;
00021 }
00022 
00023 namespace hrp
00024 {
00025         class Link;
00026         class CFSImpl;
00027         class WorldBase;
00028         
00029     class HRPMODEL_API ConstraintForceSolver
00030     {
00031                 CFSImpl* impl;
00032                 
00033     public:
00034         ConstraintForceSolver(WorldBase& world);
00035         ~ConstraintForceSolver();
00036                 
00037         bool addCollisionCheckLinkPair
00038                 (int bodyIndex1, Link* link1, int bodyIndex2, Link* link2, double muStatic, double muDynamic, double culling_thresh, double restitution, double epsilon);
00039                 bool addExtraJoint(int bodyIndex1, Link* link1, int bodyIndex2, Link* link2, const double* link1LocalPos, const double* link2LocalPos, const short jointType, const double* jointAxis );
00040                 void clearCollisionCheckLinkPairs();
00041 
00042                 void setGaussSeidelParameters(int maxNumIteration, int numInitialIteration, double maxRelError);
00043                 void enableConstraintForceOutput(bool on);
00044                 void useBuiltinCollisionDetector(bool on);
00045                 void setNegativeVelocityRatioForPenetration(double ratio);
00046 
00047                 void initialize(void);
00048         void solve(OpenHRP::CollisionSequence& corbaCollisionSequence);
00049                 void clearExternalForces();
00050         void setAllowedPenetrationDepth(double dVal);
00051         double getAllowedPenetrationDepth() const;
00052         };
00053 };
00054 
00055 
00056 #endif
00057 


openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Sun Apr 2 2017 03:43:53