Public Member Functions | Private Member Functions | Private Attributes | List of all members
DynamicsSimulator_impl Class Reference

#include <DynamicsSimulator_impl.h>

Inheritance diagram for DynamicsSimulator_impl:
Inheritance graph
[legend]

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) More...
 
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

DynamicsSimulator_impl::DynamicsSimulator_impl ( CORBA::ORB_ptr  orb)

Definition at line 116 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

DynamicsSimulator_impl::~DynamicsSimulator_impl ( )

Definition at line 157 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

DynamicsSimulator_impl::DynamicsSimulator_impl ( CORBA::ORB_ptr  orb)
DynamicsSimulator_impl::~DynamicsSimulator_impl ( )

Member Function Documentation

void DynamicsSimulator_impl::_setupCharacterData ( )
private
void DynamicsSimulator_impl::_setupCharacterData ( )
private

Definition at line 1213 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

void DynamicsSimulator_impl::_updateCharacterPositions ( )
private
void DynamicsSimulator_impl::_updateCharacterPositions ( )
private

Definition at line 1253 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

void DynamicsSimulator_impl::_updateSensorStates ( )
private
void DynamicsSimulator_impl::_updateSensorStates ( )
private

Definition at line 1289 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

virtual void DynamicsSimulator_impl::calcCharacterForwardKinematics ( const char *  characterName)
virtual
void DynamicsSimulator_impl::calcCharacterForwardKinematics ( const char *  characterName)
virtual

Definition at line 1107 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

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

Definition at line 1059 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

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

Definition at line 1414 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

virtual void DynamicsSimulator_impl::calcWorldForwardKinematics ( )
virtual
void DynamicsSimulator_impl::calcWorldForwardKinematics ( )
virtual

Definition at line 1128 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

bool DynamicsSimulator_impl::checkCollision ( bool  checkAll)
virtual

Definition at line 1139 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

virtual bool DynamicsSimulator_impl::checkCollision ( bool  checkAll)
virtual
DistanceSequence * DynamicsSimulator_impl::checkDistance ( )
virtual

Definition at line 1153 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

virtual DistanceSequence* DynamicsSimulator_impl::checkDistance ( )
virtual
LinkPairSequence * DynamicsSimulator_impl::checkIntersection ( CORBA::Boolean  checkAll)
virtual

Definition at line 1166 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

virtual LinkPairSequence* DynamicsSimulator_impl::checkIntersection ( CORBA::Boolean  checkAll)
virtual
virtual void DynamicsSimulator_impl::destroy ( )
virtual
void DynamicsSimulator_impl::destroy ( )
virtual

Definition at line 167 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

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

Definition at line 865 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

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

Definition at line 762 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

virtual void DynamicsSimulator_impl::getCharacterSensorState ( const char *  characterName,
SensorState_out  sstate 
)
virtual
void DynamicsSimulator_impl::getCharacterSensorState ( const char *  characterName,
SensorState_out  sstate 
)
virtual

Definition at line 1198 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

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

Definition at line 466 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

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

Definition at line 1012 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

virtual void DynamicsSimulator_impl::getWorldState ( WorldState_out  state)
virtual
void DynamicsSimulator_impl::getWorldState ( WorldState_out  wstate)
virtual

Definition at line 1178 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

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

Definition at line 206 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

virtual void DynamicsSimulator_impl::initSimulation ( )
virtual
void DynamicsSimulator_impl::initSimulation ( )
virtual

Definition at line 559 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

virtual void DynamicsSimulator_impl::registerCharacter ( const char *  name,
BodyInfo_ptr  cinfo 
)
virtual
void DynamicsSimulator_impl::registerCharacter ( const char *  name,
BodyInfo_ptr  binfo 
)
virtual

Definition at line 180 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

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

Definition at line 244 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

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

Definition at line 406 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

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

Definition at line 342 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

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

Definition at line 1032 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

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

Definition at line 920 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

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

Definition at line 626 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

virtual void DynamicsSimulator_impl::setGVector ( const DblSequence3 &  wdata)
virtual
void DynamicsSimulator_impl::setGVector ( const DblSequence3 &  wdata)
virtual

Definition at line 989 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

virtual void DynamicsSimulator_impl::stepSimulation ( )
virtual
void DynamicsSimulator_impl::stepSimulation ( )
virtual

Definition at line 583 of file AistDynamicsSimulator/DynamicsSimulator_impl.cpp.

Member Data Documentation

CharacterPositionSequence_var DynamicsSimulator_impl::allCharacterPositions
private

Definition at line 50 of file AistDynamicsSimulator/DynamicsSimulator_impl.h.

SensorStateSequence_var DynamicsSimulator_impl::allCharacterSensorStates
private

Definition at line 53 of file AistDynamicsSimulator/DynamicsSimulator_impl.h.

LinkPairSequence_var DynamicsSimulator_impl::collidingLinkPairs
private

Definition at line 48 of file AistDynamicsSimulator/DynamicsSimulator_impl.h.

CollisionDetector_var DynamicsSimulator_impl::collisionDetector
private

Definition at line 45 of file AistDynamicsSimulator/DynamicsSimulator_impl.h.

CollisionSequence_var DynamicsSimulator_impl::collisions
private

Definition at line 47 of file AistDynamicsSimulator/DynamicsSimulator_impl.h.

bool DynamicsSimulator_impl::isFirstSimulationLoop
private

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

bool DynamicsSimulator_impl::needToUpdatePositions
private

Definition at line 51 of file AistDynamicsSimulator/DynamicsSimulator_impl.h.

bool DynamicsSimulator_impl::needToUpdateSensorStates
private

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

CORBA::ORB_var DynamicsSimulator_impl::orb_
private

ORB

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

TimeMeasure DynamicsSimulator_impl::timeMeasure1
private

Definition at line 56 of file AistDynamicsSimulator/DynamicsSimulator_impl.h.

TimeMeasure DynamicsSimulator_impl::timeMeasure2
private

Definition at line 57 of file AistDynamicsSimulator/DynamicsSimulator_impl.h.

TimeMeasure DynamicsSimulator_impl::timeMeasure3
private

Definition at line 58 of file AistDynamicsSimulator/DynamicsSimulator_impl.h.

bool DynamicsSimulator_impl::timeMeasureFinished
private

Definition at line 59 of file AistDynamicsSimulator/DynamicsSimulator_impl.h.

bool DynamicsSimulator_impl::timeMeasureStarted
private

Definition at line 60 of file AistDynamicsSimulator/DynamicsSimulator_impl.h.

::World DynamicsSimulator_impl::world
private

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

hrp::World<hrp::ConstraintForceSolver> DynamicsSimulator_impl::world
private

Definition at line 43 of file AistDynamicsSimulator/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 Sat Apr 13 2019 02:14:28