#include <ODE_DynamicsSimulator_impl.h>
Public Member Functions | |
virtual void | calcCharacterForwardKinematics (const char *characterName) |
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 | calcWorldForwardKinematics () |
virtual bool | checkCollision (bool checkAll) |
virtual DistanceSequence * | checkDistance () |
virtual LinkPairSequence * | checkIntersection (CORBA::Boolean checkAll) |
virtual void | destroy () |
virtual void | getCharacterAllLinkData (const char *characterName, OpenHRP::DynamicsSimulator::LinkDataType type, DblSequence_out wdata) |
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 | getCharacterSensorState (const char *characterName, SensorState_out sstate) |
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 | getGVector (DblSequence3_out wdata) |
virtual void | getWorldState (WorldState_out wstate) |
virtual void | init (CORBA::Double timeStep, OpenHRP::DynamicsSimulator::IntegrateMethod integrateOpt, OpenHRP::DynamicsSimulator::SensorOption sensorOpt) |
virtual void | initSimulation () |
ODE_DynamicsSimulator_impl (CORBA::ORB_ptr orb) | |
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 | 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 | setCharacterAllJointModes (const char *characterName, OpenHRP::DynamicsSimulator::JointDriveMode jointMode) |
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 | setGVector (const DblSequence3 &wdata) |
virtual void | stepSimulation () |
~ODE_DynamicsSimulator_impl () | |
Private Member Functions | |
void | _setupCharacterData () |
void | _updateCharacterPositions () |
void | _updateSensorStates () |
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 | needToUpdatePositions |
bool | needToUpdateSensorStates |
CORBA::ORB_var | orb_ |
TimeMeasure | timeMeasure1 |
TimeMeasure | timeMeasure2 |
TimeMeasure | timeMeasure3 |
bool | timeMeasureFinished |
bool | timeMeasureStarted |
ODE_World | world |
DynamicsSimulator_impl class
Definition at line 33 of file ODE_DynamicsSimulator_impl.h.
ODE_DynamicsSimulator_impl::ODE_DynamicsSimulator_impl | ( | CORBA::ORB_ptr | orb | ) |
Definition at line 111 of file ODE_DynamicsSimulator_impl.cpp.
Definition at line 153 of file ODE_DynamicsSimulator_impl.cpp.
void ODE_DynamicsSimulator_impl::_setupCharacterData | ( | ) | [private] |
Definition at line 1211 of file ODE_DynamicsSimulator_impl.cpp.
void ODE_DynamicsSimulator_impl::_updateCharacterPositions | ( | ) | [private] |
Definition at line 1252 of file ODE_DynamicsSimulator_impl.cpp.
void ODE_DynamicsSimulator_impl::_updateSensorStates | ( | ) | [private] |
Definition at line 1289 of file ODE_DynamicsSimulator_impl.cpp.
void ODE_DynamicsSimulator_impl::calcCharacterForwardKinematics | ( | const char * | characterName | ) | [virtual] |
Definition at line 1082 of file ODE_DynamicsSimulator_impl.cpp.
CORBA::Boolean ODE_DynamicsSimulator_impl::calcCharacterInverseKinematics | ( | const char * | characterName, |
const char * | baseLink, | ||
const char * | targetLink, | ||
const LinkPosition & | target | ||
) | [virtual] |
Definition at line 1032 of file ODE_DynamicsSimulator_impl.cpp.
void ODE_DynamicsSimulator_impl::calcCharacterJacobian | ( | const char * | characterName, |
const char * | baseLink, | ||
const char * | targetLink, | ||
DblSequence_out | jacobian | ||
) | [virtual] |
Definition at line 1417 of file ODE_DynamicsSimulator_impl.cpp.
void ODE_DynamicsSimulator_impl::calcWorldForwardKinematics | ( | ) | [virtual] |
Definition at line 1110 of file ODE_DynamicsSimulator_impl.cpp.
bool ODE_DynamicsSimulator_impl::checkCollision | ( | bool | checkAll | ) | [virtual] |
Definition at line 1129 of file ODE_DynamicsSimulator_impl.cpp.
DistanceSequence * ODE_DynamicsSimulator_impl::checkDistance | ( | ) | [virtual] |
Definition at line 1146 of file ODE_DynamicsSimulator_impl.cpp.
LinkPairSequence * ODE_DynamicsSimulator_impl::checkIntersection | ( | CORBA::Boolean | checkAll | ) | [virtual] |
Definition at line 1160 of file ODE_DynamicsSimulator_impl.cpp.
void ODE_DynamicsSimulator_impl::destroy | ( | ) | [virtual] |
Definition at line 163 of file ODE_DynamicsSimulator_impl.cpp.
void ODE_DynamicsSimulator_impl::getCharacterAllLinkData | ( | const char * | characterName, |
OpenHRP::DynamicsSimulator::LinkDataType | type, | ||
DblSequence_out | wdata | ||
) | [virtual] |
Definition at line 827 of file ODE_DynamicsSimulator_impl.cpp.
CORBA::Boolean ODE_DynamicsSimulator_impl::getCharacterCollidingPairs | ( | const char * | characterName, |
LinkPairSequence_out | pairs | ||
) | [virtual] |
Definition at line 1376 of file ODE_DynamicsSimulator_impl.cpp.
void ODE_DynamicsSimulator_impl::getCharacterLinkData | ( | const char * | characterName, |
const char * | link, | ||
OpenHRP::DynamicsSimulator::LinkDataType | type, | ||
DblSequence_out | rdata | ||
) | [virtual] |
Definition at line 719 of file ODE_DynamicsSimulator_impl.cpp.
void ODE_DynamicsSimulator_impl::getCharacterSensorState | ( | const char * | characterName, |
SensorState_out | sstate | ||
) | [virtual] |
Definition at line 1194 of file ODE_DynamicsSimulator_impl.cpp.
void ODE_DynamicsSimulator_impl::getCharacterSensorValues | ( | const char * | characterName, |
const char * | sensorName, | ||
DblSequence_out | values | ||
) | [virtual] |
Definition at line 426 of file ODE_DynamicsSimulator_impl.cpp.
void ODE_DynamicsSimulator_impl::getExtraJointConstraintForce | ( | const char * | characterName, |
const char * | extraJointName, | ||
DblSequence6_out | contactForce | ||
) | [virtual] |
Definition at line 412 of file ODE_DynamicsSimulator_impl.cpp.
void ODE_DynamicsSimulator_impl::getGVector | ( | DblSequence3_out | wdata | ) | [virtual] |
Definition at line 979 of file ODE_DynamicsSimulator_impl.cpp.
void ODE_DynamicsSimulator_impl::getWorldState | ( | WorldState_out | wstate | ) | [virtual] |
Definition at line 1173 of file ODE_DynamicsSimulator_impl.cpp.
void ODE_DynamicsSimulator_impl::init | ( | CORBA::Double | timeStep, |
OpenHRP::DynamicsSimulator::IntegrateMethod | integrateOpt, | ||
OpenHRP::DynamicsSimulator::SensorOption | sensorOpt | ||
) | [virtual] |
Definition at line 195 of file ODE_DynamicsSimulator_impl.cpp.
void ODE_DynamicsSimulator_impl::initSimulation | ( | ) | [virtual] |
Definition at line 520 of file ODE_DynamicsSimulator_impl.cpp.
void ODE_DynamicsSimulator_impl::registerCharacter | ( | const char * | name, |
BodyInfo_ptr | binfo | ||
) | [virtual] |
Definition at line 176 of file ODE_DynamicsSimulator_impl.cpp.
void ODE_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] |
Definition at line 233 of file ODE_DynamicsSimulator_impl.cpp.
void ODE_DynamicsSimulator_impl::registerCollisionPair2CD | ( | const std::string & | , |
const std::string & | , | ||
const std::string & | , | ||
const std::string & | |||
) | [private] |
void ODE_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] |
Definition at line 397 of file ODE_DynamicsSimulator_impl.cpp.
void ODE_DynamicsSimulator_impl::registerIntersectionCheckPair | ( | const char * | char1, |
const char * | name1, | ||
const char * | char2, | ||
const char * | name2, | ||
const double | tolerance | ||
) | [virtual] |
Definition at line 330 of file ODE_DynamicsSimulator_impl.cpp.
void ODE_DynamicsSimulator_impl::setCharacterAllJointModes | ( | const char * | characterName, |
OpenHRP::DynamicsSimulator::JointDriveMode | jointMode | ||
) | [virtual] |
Definition at line 1000 of file ODE_DynamicsSimulator_impl.cpp.
void ODE_DynamicsSimulator_impl::setCharacterAllLinkData | ( | const char * | characterName, |
OpenHRP::DynamicsSimulator::LinkDataType | type, | ||
const DblSequence & | wdata | ||
) | [virtual] |
Definition at line 884 of file ODE_DynamicsSimulator_impl.cpp.
void ODE_DynamicsSimulator_impl::setCharacterLinkData | ( | const char * | characterName, |
const char * | link, | ||
OpenHRP::DynamicsSimulator::LinkDataType | type, | ||
const DblSequence & | data | ||
) | [virtual] |
Definition at line 586 of file ODE_DynamicsSimulator_impl.cpp.
void ODE_DynamicsSimulator_impl::setGVector | ( | const DblSequence3 & | wdata | ) | [virtual] |
Definition at line 954 of file ODE_DynamicsSimulator_impl.cpp.
void ODE_DynamicsSimulator_impl::stepSimulation | ( | ) | [virtual] |
Definition at line 542 of file ODE_DynamicsSimulator_impl.cpp.
CharacterPositionSequence_var ODE_DynamicsSimulator_impl::allCharacterPositions [private] |
Definition at line 48 of file ODE_DynamicsSimulator_impl.h.
SensorStateSequence_var ODE_DynamicsSimulator_impl::allCharacterSensorStates [private] |
Definition at line 51 of file ODE_DynamicsSimulator_impl.h.
LinkPairSequence_var ODE_DynamicsSimulator_impl::collidingLinkPairs [private] |
Definition at line 46 of file ODE_DynamicsSimulator_impl.h.
CollisionDetector_var ODE_DynamicsSimulator_impl::collisionDetector [private] |
Definition at line 43 of file ODE_DynamicsSimulator_impl.h.
CollisionSequence_var ODE_DynamicsSimulator_impl::collisions [private] |
Definition at line 45 of file ODE_DynamicsSimulator_impl.h.
bool ODE_DynamicsSimulator_impl::needToUpdatePositions [private] |
Definition at line 49 of file ODE_DynamicsSimulator_impl.h.
bool ODE_DynamicsSimulator_impl::needToUpdateSensorStates [private] |
Definition at line 52 of file ODE_DynamicsSimulator_impl.h.
CORBA::ORB_var ODE_DynamicsSimulator_impl::orb_ [private] |
ORB
Definition at line 39 of file ODE_DynamicsSimulator_impl.h.
Definition at line 54 of file ODE_DynamicsSimulator_impl.h.
Definition at line 55 of file ODE_DynamicsSimulator_impl.h.
Definition at line 56 of file ODE_DynamicsSimulator_impl.h.
bool ODE_DynamicsSimulator_impl::timeMeasureFinished [private] |
Definition at line 57 of file ODE_DynamicsSimulator_impl.h.
bool ODE_DynamicsSimulator_impl::timeMeasureStarted [private] |
Definition at line 58 of file ODE_DynamicsSimulator_impl.h.
ODE_World ODE_DynamicsSimulator_impl::world [private] |
Definition at line 41 of file ODE_DynamicsSimulator_impl.h.