Classes | Public Types | Public Member Functions | Public Attributes | Private Member Functions | Private Attributes
ODE_World Class Reference

#include <ODE_World.h>

Inheritance diagram for ODE_World:
Inheritance graph

List of all members.


struct  LinkPair

Public Types

typedef std::vector< LinkPairLinkPairArray

Public Member Functions

void addBody (OpenHRP::BodyInfo_ptr body, const char *name)
 add body to this world
void addCollisionPair (OpenHRP::LinkPair &linkPair)
void calcNextState (OpenHRP::CollisionSequence &corbaCollisionSequence)
 compute forward dynamics and update current state
void clearExternalForces ()
void getGravityAcceleration (dVector3 &gravity)
 get gravity acceleration
dJointGroupID getJointGroupID ()
dSpaceID getSpaceID ()
dWorldID getWorldID ()
void initialize ()
 initialize this world. This must be called after all bodies are registered.
 ODE_World ()
void setGravityAcceleration (const dVector3 &gravity)
 set gravity acceleration
void useInternalCollisionDetector (bool use)
 ~ODE_World ()

Public Attributes

OpenHRP::CollisionSequence collisions
LinkPairArray linkPairs

Private Member Functions

void updateSensors ()

Private Attributes

dJointGroupID contactgroupId
dSpaceID spaceId
bool useInternalCollisionDetector_
dWorldID worldId

Detailed Description

Definition at line 68 of file ODE_World.h.

Member Typedef Documentation

typedef std::vector<LinkPair> ODE_World::LinkPairArray

Definition at line 122 of file ODE_World.h.

Constructor & Destructor Documentation

Definition at line 15 of file ODE_World.cpp.

Definition at line 32 of file ODE_World.cpp.

Member Function Documentation

void ODE_World::addBody ( OpenHRP::BodyInfo_ptr  body,
const char *  name 

add body to this world

index of the body
This must be called before initialize() is called.

Definition at line 55 of file ODE_World.cpp.

void ODE_World::addCollisionPair ( OpenHRP::LinkPair &  linkPair)

Definition at line 64 of file ODE_World.cpp.

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

compute forward dynamics and update current state

Definition at line 104 of file ODE_World.cpp.

Definition at line 193 of file ODE_World.cpp.

void ODE_World::getGravityAcceleration ( dVector3 &  gravity)

get gravity acceleration

gravity accleration

Definition at line 50 of file ODE_World.cpp.

dJointGroupID ODE_World::getJointGroupID ( ) [inline]

Definition at line 114 of file ODE_World.h.

dSpaceID ODE_World::getSpaceID ( ) [inline]

Definition at line 113 of file ODE_World.h.

dWorldID ODE_World::getWorldID ( ) [inline]

Definition at line 112 of file ODE_World.h.

void ODE_World::initialize ( void  ) [virtual]

initialize this world. This must be called after all bodies are registered.

Reimplemented from hrp::WorldBase.

Definition at line 173 of file ODE_World.cpp.

void ODE_World::setGravityAcceleration ( const dVector3 &  gravity)

set gravity acceleration

ggravity acceleration[m/s^2]

Definition at line 45 of file ODE_World.cpp.

Definition at line 197 of file ODE_World.cpp.

Definition at line 106 of file ODE_World.h.

Member Data Documentation

OpenHRP::CollisionSequence ODE_World::collisions

Definition at line 116 of file ODE_World.h.

dJointGroupID ODE_World::contactgroupId [private]

Definition at line 128 of file ODE_World.h.

Definition at line 123 of file ODE_World.h.

dSpaceID ODE_World::spaceId [private]

Definition at line 127 of file ODE_World.h.

Definition at line 130 of file ODE_World.h.

dWorldID ODE_World::worldId [private]

Definition at line 126 of file ODE_World.h.

The documentation for this class was generated from the following files:

Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Thu Apr 11 2019 03:30:21