Classes | Public Member Functions | Protected Attributes | Private Member Functions | Private Attributes
World Class Reference

#include <World.h>

List of all members.

Classes

class  CharacterInfo

Public Member Functions

void addCharacter (Joint *rjoint, const std::string &_name, OpenHRP::LinkInfoSequence_var links)
void addCollisionCheckLinkPair (Joint *jnt1, Joint *jnt2, double staticFriction, double slipFriction, double epsilon)
int addSensor (Joint *jnt, int sensorType, int id, const std::string name, const fVec3 &_localPos, const fMat33 &_localR)
void calcCharacterJacobian (const char *characterName, const char *baseLink, const char *targetLink, fMat &J)
void calcNextState (OpenHRP::CollisionSequence &corbaCollisionSequence)
pSimChain ()
void clearCollisionPairs ()
double currentTime (void) const
void enableSensors (bool on)
SensorfindSensor (const char *sensorName, const char *charName)
void getAllCharacterData (const char *name, OpenHRP::DynamicsSimulator::LinkDataType type, OpenHRP::DblSequence_out &rdata)
void getAllCharacterPositions (OpenHRP::CharacterPositionSequence &all_char_pos)
void getAllSensorStates (OpenHRP::SensorStateSequence &all_sensor_states)
const fVec3getGravityAcceleration ()
void initialize ()
int numCharacter ()
int numJoints (int index)
int numLinks (int index)
int numSensors (int sensorType, const char *charName)
int numSensors ()
JointrootJoint (int index)
void setAllCharacterData (const char *name, OpenHRP::DynamicsSimulator::LinkDataType type, const OpenHRP::DblSequence &wdata)
void setCurrentTime (double)
void setEulerMethod ()
void setGravityAcceleration (const fVec3 &g)
void setRungeKuttaMethod ()
void setTimeStep (double)
double timeStep (void) const
 World ()
 ~World ()

Protected Attributes

pSimchain
std::vector< CharacterInfocharacters
std::vector< SDContactPair * > contact_pairs
std::vector< Sensor * > sensors

Private Member Functions

void _get_all_character_data_sub (Joint *cur, int index, OpenHRP::DynamicsSimulator::LinkDataType type, OpenHRP::DblSequence_out &rdata)
void _get_all_sensor_states_sub (Joint *cur, int &count, OpenHRP::SensorState &state)
void _set_all_character_data_sub (Joint *cur, int index, OpenHRP::DynamicsSimulator::LinkDataType type, const OpenHRP::DblSequence &wdata)
void update_accel_sensor (AccelSensor *as)
void update_force_sensor (ForceSensor *fs)
void update_rate_gyro_sensor (RateGyroSensor *rgs)

Private Attributes

double currentTime_
fVec3 g
bool isEulerMethod
int numRegisteredLinkPairs
bool sensorsAreEnabled
double timeStep_

Detailed Description

Definition at line 33 of file server/UtDynamicsSimulator/World.h.


Constructor & Destructor Documentation

Definition at line 68 of file server/UtDynamicsSimulator/World.cpp.

Definition at line 81 of file server/UtDynamicsSimulator/World.cpp.


Member Function Documentation

void World::_get_all_character_data_sub ( Joint cur,
int  index,
OpenHRP::DynamicsSimulator::LinkDataType  type,
OpenHRP::DblSequence_out &  rdata 
) [private]

Definition at line 378 of file server/UtDynamicsSimulator/World.cpp.

void World::_get_all_sensor_states_sub ( Joint cur,
int count,
OpenHRP::SensorState &  state 
) [private]
void World::_set_all_character_data_sub ( Joint cur,
int  index,
OpenHRP::DynamicsSimulator::LinkDataType  type,
const OpenHRP::DblSequence &  wdata 
) [private]

Definition at line 429 of file server/UtDynamicsSimulator/World.cpp.

void World::addCharacter ( Joint rjoint,
const std::string &  _name,
OpenHRP::LinkInfoSequence_var  links 
)

Definition at line 616 of file server/UtDynamicsSimulator/World.cpp.

void World::addCollisionCheckLinkPair ( Joint jnt1,
Joint jnt2,
double  staticFriction,
double  slipFriction,
double  epsilon 
)

Definition at line 605 of file server/UtDynamicsSimulator/World.cpp.

int World::addSensor ( Joint jnt,
int  sensorType,
int  id,
const std::string  name,
const fVec3 _localPos,
const fMat33 _localR 
)

Definition at line 312 of file server/UtDynamicsSimulator/World.cpp.

void World::calcCharacterJacobian ( const char *  characterName,
const char *  baseLink,
const char *  targetLink,
fMat J 
)

Definition at line 565 of file server/UtDynamicsSimulator/World.cpp.

void World::calcNextState ( OpenHRP::CollisionSequence &  corbaCollisionSequence)

Definition at line 146 of file server/UtDynamicsSimulator/World.cpp.

pSim* World::Chain ( ) [inline]

Definition at line 78 of file server/UtDynamicsSimulator/World.h.

double World::currentTime ( void  ) const [inline]

Definition at line 63 of file server/UtDynamicsSimulator/World.h.

void World::enableSensors ( bool  on)

Definition at line 119 of file server/UtDynamicsSimulator/World.cpp.

Sensor * World::findSensor ( const char *  sensorName,
const char *  charName 
)

Definition at line 325 of file server/UtDynamicsSimulator/World.cpp.

void World::getAllCharacterData ( const char *  name,
OpenHRP::DynamicsSimulator::LinkDataType  type,
OpenHRP::DblSequence_out &  rdata 
)

Definition at line 354 of file server/UtDynamicsSimulator/World.cpp.

void World::getAllCharacterPositions ( OpenHRP::CharacterPositionSequence &  all_char_pos)

Definition at line 473 of file server/UtDynamicsSimulator/World.cpp.

void World::getAllSensorStates ( OpenHRP::SensorStateSequence &  all_sensor_states)

Definition at line 492 of file server/UtDynamicsSimulator/World.cpp.

Definition at line 66 of file server/UtDynamicsSimulator/World.h.

Definition at line 125 of file server/UtDynamicsSimulator/World.cpp.

int World::numCharacter ( ) [inline]

Definition at line 108 of file server/UtDynamicsSimulator/World.h.

int World::numJoints ( int  index) [inline]

Definition at line 104 of file server/UtDynamicsSimulator/World.h.

int World::numLinks ( int  index) [inline]

Definition at line 101 of file server/UtDynamicsSimulator/World.h.

int World::numSensors ( int  sensorType,
const char *  charName 
)

Definition at line 339 of file server/UtDynamicsSimulator/World.cpp.

int World::numSensors ( ) [inline]

Definition at line 87 of file server/UtDynamicsSimulator/World.h.

Joint * World::rootJoint ( int  index)

Definition at line 635 of file server/UtDynamicsSimulator/World.cpp.

void World::setAllCharacterData ( const char *  name,
OpenHRP::DynamicsSimulator::LinkDataType  type,
const OpenHRP::DblSequence &  wdata 
)

Definition at line 406 of file server/UtDynamicsSimulator/World.cpp.

void World::setCurrentTime ( double  time)

Definition at line 105 of file server/UtDynamicsSimulator/World.cpp.

Definition at line 271 of file server/UtDynamicsSimulator/World.cpp.

Definition at line 111 of file server/UtDynamicsSimulator/World.cpp.

Definition at line 277 of file server/UtDynamicsSimulator/World.cpp.

void World::setTimeStep ( double  ts)

Definition at line 99 of file server/UtDynamicsSimulator/World.cpp.

double World::timeStep ( void  ) const [inline]

Definition at line 60 of file server/UtDynamicsSimulator/World.h.

Definition at line 259 of file server/UtDynamicsSimulator/World.cpp.

Definition at line 237 of file server/UtDynamicsSimulator/World.cpp.

Definition at line 254 of file server/UtDynamicsSimulator/World.cpp.


Member Data Documentation

pSim* World::chain [protected]

Definition at line 113 of file server/UtDynamicsSimulator/World.h.

std::vector<CharacterInfo> World::characters [protected]

Definition at line 117 of file server/UtDynamicsSimulator/World.h.

std::vector<SDContactPair*> World::contact_pairs [protected]

Definition at line 114 of file server/UtDynamicsSimulator/World.h.

double World::currentTime_ [private]

Definition at line 125 of file server/UtDynamicsSimulator/World.h.

fVec3 World::g [private]

Definition at line 151 of file server/UtDynamicsSimulator/World.h.

bool World::isEulerMethod [private]

Definition at line 153 of file server/UtDynamicsSimulator/World.h.

Definition at line 149 of file server/UtDynamicsSimulator/World.h.

std::vector<Sensor*> World::sensors [protected]

Definition at line 115 of file server/UtDynamicsSimulator/World.h.

bool World::sensorsAreEnabled [private]

Definition at line 155 of file server/UtDynamicsSimulator/World.h.

double World::timeStep_ [private]

Definition at line 126 of file server/UtDynamicsSimulator/World.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 Sun Apr 2 2017 03:44:00