Public Member Functions
bool	addCollisionCheckLinkPair (int bodyIndex1, Link link1, int bodyIndex2, Link link2, double muStatic, double muDynamic, double culling_thresh, double restitution, double epsilon)
bool	addExtraJoint (int bodyIndex1, Link link1, int bodyIndex2, Link link2, const double link1LocalPos, const double link2LocalPos, const short jointType, const double *jointAxis)
void	clearCollisionCheckLinkPairs ()
void	clearExternalForces ()
	ConstraintForceSolver (WorldBase &world)
void	enableConstraintForceOutput (bool on)
double	getAllowedPenetrationDepth () const
void	initialize (void)
void	setAllowedPenetrationDepth (double dVal)
void	setGaussSeidelParameters (int maxNumIteration, int numInitialIteration, double maxRelError)
void	setNegativeVelocityRatioForPenetration (double ratio)
void	solve (OpenHRP::CollisionSequence &corbaCollisionSequence)
void	useBuiltinCollisionDetector (bool on)
	~ConstraintForceSolver ()
Private Attributes
CFSImpl *	impl

Detailed Description

Definition at line 29 of file ConstraintForceSolver.h.

Constructor & Destructor Documentation

ConstraintForceSolver::ConstraintForceSolver ( WorldBase & world )

ConstraintForceSolver::~ConstraintForceSolver ( )

bool ConstraintForceSolver::addCollisionCheckLinkPair	(	int	bodyIndex1,
		Link *	link1,
		int	bodyIndex2,
		Link *	link2,
		double	muStatic,
		double	muDynamic,
		double	culling_thresh,
		double	restitution,
		double	epsilon
	)

bool ConstraintForceSolver::addExtraJoint	(	int	bodyIndex1,
		Link *	link1,
		int	bodyIndex2,
		Link *	link2,
		const double *	link1LocalPos,
		const double *	link2LocalPos,
		const short	jointType,
		const double *	jointAxis
	)