#include <ODE_Link.h>
Inheritance diagram for ODE_Link:
Public Attributes | |
| dBodyID | bodyId |
| hrp::Vector3 | C |
| std::vector< dGeomID > | geomIds |
| std::vector< int > | indices |
| dJointID | odeJointId |
| dTriMeshDataID | triMeshDataId |
| std::vector< dReal > | vertices |
 Public Attributes inherited from hrp::Link | |
| Vector3 | a |
| rotational joint axis (self local) More... | |
| Vector3 | b |
| relative position (parent local) More... | |
| Body * | body |
| Vector3 | c |
| center of mass (self local) More... | |
| Link * | child |
| double | climit |
| the upper limit of joint current (tlimit = climit x grarRatio x torqueConst) More... | |
| ColdetModelPtr | coldetModel |
| ConstraintForceArray | constraintForces |
| Vector3 | cv |
| dsv * dq (cross velocity term) More... | |
| Vector3 | cw |
| dsw * dq (cross velocity term) More... | |
| Vector3 | d |
| translation joint axis (self local) More... | |
| double | dd |
| Ia*s*s^T. More... | |
| double | ddq |
| joint acceleration More... | |
| double | defaultJointValue |
| double | dq |
| joint velocity More... | |
| Vector3 | dv |
| linear acceleration More... | |
| Vector3 | dvo |
| derivative of vo More... | |
| Vector3 | dw |
| derivative of omega More... | |
| double | encoderPulse |
| Vector3 | fext |
| external force More... | |
| double | gearEfficiency |
| double | gearRatio |
| Vector3 | hhv |
| top block of Ia*s More... | |
| Vector3 | hhw |
| bottom bock of Ia*s More... | |
| Matrix33 | I |
| inertia tensor (self local, around c) More... | |
| int | index |
| double | Ir |
| rotor inertia [kg.m^2] More... | |
| bool | isCrawler |
| bool | isHighGainMode |
| Matrix33 | Ivv |
| top left block of the articulated inertia More... | |
| Matrix33 | Iwv |
| bottom left block (transpose of top right block) of the articulated inertia More... | |
| Matrix33 | Iww |
| bottm right block of the articulated inertia More... | |
| double | Jm2 |
| Equivalent rotor inertia: n^2*Jm [kg.m^2]. More... | |
| int | jointId |
| jointId value written in a model file More... | |
| JointType | jointType |
| std::vector< Light * > | lights |
| lights attached to this link More... | |
| double | llimit |
| the lower limit of joint values More... | |
| double | lvlimit |
| the lower limit of joint velocities More... | |
| double | m |
| mass More... | |
| std::string | name |
| Vector3 | p |
| position More... | |
| Link * | parent |
| Vector3 | pf |
| bias force (linear element) More... | |
| Vector3 | ptau |
| bias force (torque element) More... | |
| double | q |
| joint value More... | |
| Matrix33 | R |
| double | rotorResistor |
| Matrix33 | Rs |
| relative attitude of the link segment (self local) More... | |
| std::vector< Sensor * > | sensors |
| sensors attached to this link More... | |
| Link * | sibling |
| double | subm |
| mass of subtree More... | |
| Vector3 | submwc |
| sum of m x wc of subtree More... | |
| Vector3 | sv |
| Vector3 | sw |
| Vector3 | tauext |
| external torque (around the world origin) More... | |
| double | torqueConst |
| double | u |
| joint torque More... | |
| double | ulimit |
| the upper limit of joint values More... | |
| double | uu |
| double | uvlimit |
| the upper limit of joint velocities More... | |
| Vector3 | v |
| linear velocity More... | |
| Vector3 | vo |
| translation elements of spacial velocity More... | |
| Vector3 | w |
| angular velocity, omega More... | |
| Vector3 | wc |
| R * c + p. More... | |
Additional Inherited Members | |
| Public Types inherited from hrp::Link | |
| typedef std::vector< ConstraintForce > | ConstraintForceArray |
| enum | JointType { FIXED_JOINT, FREE_JOINT, ROTATIONAL_JOINT, SLIDE_JOINT } |
Detailed Description
Definition at line 19 of file ODE_Link.h.
Member Function Documentation
| void ODE_Link::destroy | ( | ) |
Definition at line 93 of file ODE_Link.cpp.
| dReal ODE_Link::getAngle | ( | ) |
Definition at line 32 of file ODE_Link.cpp.
| const dReal * ODE_Link::getAngularVel | ( | ) |
Definition at line 57 of file ODE_Link.cpp.
| const dReal * ODE_Link::getForce | ( | ) |
Definition at line 77 of file ODE_Link.cpp.
| void ODE_Link::getLinearVel | ( | hrp::Vector3 & | v | ) |
Definition at line 61 of file ODE_Link.cpp.
| const dReal * ODE_Link::getTorque | ( | ) |
Definition at line 81 of file ODE_Link.cpp.
| void ODE_Link::getTransform | ( | hrp::Vector3 & | pos, |
| hrp::Matrix33 & | R | ||
| ) |
Definition at line 12 of file ODE_Link.cpp.
| dReal ODE_Link::getVelocity | ( | ) |
Definition at line 41 of file ODE_Link.cpp.
| void ODE_Link::setAbsVelocity | ( | hrp::Vector3 & | v, |
| hrp::Vector3 & | w | ||
| ) |
Definition at line 67 of file ODE_Link.cpp.
| void ODE_Link::setForce | ( | double | fx, |
| double | fy, | ||
| double | fz | ||
| ) |
Definition at line 85 of file ODE_Link.cpp.
| void ODE_Link::setTorque | ( | double | fx, |
| double | fy, | ||
| double | fz | ||
| ) |
Definition at line 89 of file ODE_Link.cpp.
| void ODE_Link::setTorque | ( | dReal | data | ) |
Definition at line 50 of file ODE_Link.cpp.
| void ODE_Link::setTransform | ( | const hrp::Vector3 & | pos, |
| const hrp::Matrix33 & | R | ||
| ) |
Definition at line 23 of file ODE_Link.cpp.
Member Data Documentation
| dBodyID ODE_Link::bodyId |
Definition at line 39 of file ODE_Link.h.
| hrp::Vector3 ODE_Link::C |
Definition at line 47 of file ODE_Link.h.
| std::vector<dGeomID> ODE_Link::geomIds |
Definition at line 42 of file ODE_Link.h.
| std::vector<int> ODE_Link::indices |
Definition at line 45 of file ODE_Link.h.
| dJointID ODE_Link::odeJointId |
Definition at line 40 of file ODE_Link.h.
| dTriMeshDataID ODE_Link::triMeshDataId |
Definition at line 43 of file ODE_Link.h.
| std::vector<dReal> ODE_Link::vertices |
Definition at line 44 of file ODE_Link.h.
The documentation for this class was generated from the following files: