/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/include/dynamics.h
Go to the documentation of this file.00001 //###################################################################### 00002 // 00003 // GraspIt! 00004 // Copyright (C) 2002-2009 Columbia University in the City of New York. 00005 // All rights reserved. 00006 // 00007 // GraspIt! is free software: you can redistribute it and/or modify 00008 // it under the terms of the GNU General Public License as published by 00009 // the Free Software Foundation, either version 3 of the License, or 00010 // (at your option) any later version. 00011 // 00012 // GraspIt! is distributed in the hope that it will be useful, 00013 // but WITHOUT ANY WARRANTY; without even the implied warranty of 00014 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00015 // GNU General Public License for more details. 00016 // 00017 // You should have received a copy of the GNU General Public License 00018 // along with GraspIt!. If not, see <http://www.gnu.org/licenses/>. 00019 // 00020 // Author(s): Andrew T. Miller 00021 // 00022 // $Id: dynamics.h,v 1.7 2009/03/30 14:59:55 cmatei Exp $ 00023 // 00024 //###################################################################### 00025 00034 class DynamicBody; 00035 class Contact; 00036 class Robot; 00037 00038 //original GraspIt: 0.2 00039 #define ERP 0.05 00040 00041 typedef struct StructDynamicParameters { 00042 double timeStep; 00043 bool useContactEps; 00044 double gravityMultiplier; 00045 } DynamicParameters; 00046 00048 int 00049 moveBodies(int numBodies,std::vector<DynamicBody *> bodyVec,double h); 00050 00052 int 00053 iterateDynamics(std::vector<Robot *> robotVec, 00054 std::vector<DynamicBody *> bodyVec, 00055 DynamicParameters *dp); 00056 00057