hrp::WorldBase Class Reference

#include <World.h>

Inheritance diagram for hrp::WorldBase:

Classes
struct	BodyInfo
struct	LinkPairKey

Public Member Functions
int	addBody (BodyPtr body)
	add body to this world More...
BodyPtr	body (int index)
	get body by index More...
BodyPtr	body (const std::string &name)
	get body by name More...
int	bodyIndex (const std::string &name)
	get index of body by name More...
virtual void	calcNextState ()
	compute forward dynamics and update current state More...
void	clearBodies ()
	clear bodies in this world More...
void	clearCollisionPairs ()
	clear collision pairs More...
double	currentTime (void) const
	get current time More...
void	enableSensors (bool on)
	enable/disable sensor simulation More...
ForwardDynamicsPtr	forwardDynamics (int index)
	get forward dynamics computation method for body More...
const Vector3 &	getGravityAcceleration ()
	get gravity acceleration More...
std::pair< int, bool >	getIndexOfLinkPairs (Link *link1, Link *link2)
	get index of link pairs More...
virtual void	initialize ()
	initialize this world. This must be called after all bodies are registered. More...
unsigned int	numBodies ()
	get the number of bodies in this world More...
void	setCurrentTime (double tm)
	set current time More...
void	setEulerMethod ()
	choose euler method for integration More...
void	setGravityAcceleration (const Vector3 &g)
	set gravity acceleration More...
void	setRungeKuttaMethod ()
	choose runge-kutta method for integration More...
void	setTimeStep (double dt)
	set time step More...
double	timeStep (void) const
	get time step More...
	WorldBase ()
virtual	~WorldBase ()

Protected Attributes
std::vector< BodyInfo >	bodyInfoArray
double	currentTime_
bool	sensorsAreEnabled
double	timeStep_

Private Types
typedef std::map< BodyPtr, int >	BodyToIndexMap
typedef std::map< LinkPairKey, int >	LinkPairKeyToIndexMap
typedef std::map< std::string, int >	NameToIndexMap

Private Member Functions
void	updateRangeSensor (RangeSensor *sensor)
void	updateRangeSensors ()

Private Attributes
BodyToIndexMap	bodyToIndexMap
Vector3	g
bool	isEulerMethod
LinkPairKeyToIndexMap	linkPairKeyToIndexMap
NameToIndexMap	nameToBodyIndexMap
int	numRegisteredLinkPairs

Detailed Description

Definition at line 34 of file hrplib/hrpModel/World.h.

Member Typedef Documentation

typedef std::map<BodyPtr, int> hrp::WorldBase::BodyToIndexMap

private

Definition at line 185 of file hrplib/hrpModel/World.h.

typedef std::map<LinkPairKey, int> hrp::WorldBase::LinkPairKeyToIndexMap

private

Definition at line 193 of file hrplib/hrpModel/World.h.

typedef std::map<std::string, int> hrp::WorldBase::NameToIndexMap

private

Definition at line 182 of file hrplib/hrpModel/World.h.

Constructor & Destructor Documentation

WorldBase::WorldBase

(

)

Definition at line 30 of file hrplib/hrpModel/World.cpp.

WorldBase::~WorldBase ( )

virtual

Definition at line 43 of file hrplib/hrpModel/World.cpp.

Member Function Documentation

int WorldBase::addBody

(

BodyPtr

body

)

add body to this world

Parameters

body

Returns

index of the body

Note

This must be called before initialize() is called.

Definition at line 153 of file hrplib/hrpModel/World.cpp.

BodyPtr WorldBase::body

(

int

index

)

get body by index

Parameters

index

of the body

Returns

body

Definition at line 56 of file hrplib/hrpModel/World.cpp.

BodyPtr WorldBase::body

(

const std::string &

name

)

get body by name

Parameters

name	of the body

Returns

body

Definition at line 65 of file hrplib/hrpModel/World.cpp.

int WorldBase::bodyIndex

(

const std::string &

name

)

get index of body by name

Parameters

name	of the body

Returns

index of the body

Definition at line 49 of file hrplib/hrpModel/World.cpp.

void WorldBase::calcNextState ( )

virtual

compute forward dynamics and update current state

Definition at line 135 of file hrplib/hrpModel/World.cpp.

void WorldBase::clearBodies

(

)

clear bodies in this world

Definition at line 166 of file hrplib/hrpModel/World.cpp.

void WorldBase::clearCollisionPairs

(

)

clear collision pairs

Definition at line 173 of file hrplib/hrpModel/World.cpp.

double hrp::WorldBase::currentTime ( void  ) const

inline

get current time

Returns

current time[s]

Definition at line 116 of file hrplib/hrpModel/World.h.

void WorldBase::enableSensors

(

bool

on

)

enable/disable sensor simulation

Parameters

on	true to enable, false to disable

Note

This must be called before initialize() is called.

Definition at line 93 of file hrplib/hrpModel/World.cpp.

ForwardDynamicsPtr hrp::WorldBase::forwardDynamics ( int  index )

inline

get forward dynamics computation method for body

Parameters

index

index of the body

Returns

forward dynamics computation method

Definition at line 65 of file hrplib/hrpModel/World.h.

const Vector3& hrp::WorldBase::getGravityAcceleration ( )

inline

get gravity acceleration

Returns

gravity accleration

Definition at line 128 of file hrplib/hrpModel/World.h.

std::pair< int, bool > WorldBase::getIndexOfLinkPairs	(	Link *	link1,
		Link *	link2
	)

get index of link pairs

Parameters

link1	link1
link2	link2

Returns

pair of index and flag. The flag is true if the pair was already registered, false othewise.

Definition at line 192 of file hrplib/hrpModel/World.cpp.

void WorldBase::initialize ( void  )

virtual

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

Reimplemented in hrp::World< TConstraintForceSolver >, hrp::World< hrp::ConstraintForceSolver >, and ODE_World.

Definition at line 99 of file hrplib/hrpModel/World.cpp.

unsigned int hrp::WorldBase::numBodies ( )

inline

get the number of bodies in this world

Returns

the number of bodies

Definition at line 44 of file hrplib/hrpModel/World.h.

void WorldBase::setCurrentTime

(

double

tm

)

set current time

Parameters

tm	current time[s]

Definition at line 81 of file hrplib/hrpModel/World.cpp.

void WorldBase::setEulerMethod

(

)

choose euler method for integration

Definition at line 180 of file hrplib/hrpModel/World.cpp.

void WorldBase::setGravityAcceleration

(

const Vector3 &

g

)

set gravity acceleration

Parameters

g	gravity acceleration[m/s^2]

Definition at line 87 of file hrplib/hrpModel/World.cpp.

void WorldBase::setRungeKuttaMethod

(

)

choose runge-kutta method for integration

Definition at line 186 of file hrplib/hrpModel/World.cpp.

void WorldBase::setTimeStep

(

double

dt

)

set time step

Parameters

dt	time step[s]

Definition at line 75 of file hrplib/hrpModel/World.cpp.

double hrp::WorldBase::timeStep ( void  ) const

inline

get time step

Returns

time step[s]

Definition at line 104 of file hrplib/hrpModel/World.h.

void WorldBase::updateRangeSensor ( RangeSensor *  sensor )

private

Definition at line 248 of file hrplib/hrpModel/World.cpp.

void WorldBase::updateRangeSensors ( )

private

Definition at line 234 of file hrplib/hrpModel/World.cpp.

Member Data Documentation

std::vector<BodyInfo> hrp::WorldBase::bodyInfoArray

protected

Definition at line 174 of file hrplib/hrpModel/World.h.

BodyToIndexMap hrp::WorldBase::bodyToIndexMap

private

Definition at line 186 of file hrplib/hrpModel/World.h.

double hrp::WorldBase::currentTime_

protected

Definition at line 167 of file hrplib/hrpModel/World.h.

Vector3 hrp::WorldBase::g

private

Definition at line 198 of file hrplib/hrpModel/World.h.

bool hrp::WorldBase::isEulerMethod

private

Definition at line 200 of file hrplib/hrpModel/World.h.

LinkPairKeyToIndexMap hrp::WorldBase::linkPairKeyToIndexMap

private

Definition at line 194 of file hrplib/hrpModel/World.h.

NameToIndexMap hrp::WorldBase::nameToBodyIndexMap

private

Definition at line 183 of file hrplib/hrpModel/World.h.

int hrp::WorldBase::numRegisteredLinkPairs

private

Definition at line 196 of file hrplib/hrpModel/World.h.

bool hrp::WorldBase::sensorsAreEnabled

protected

Definition at line 176 of file hrplib/hrpModel/World.h.

double hrp::WorldBase::timeStep_

protected

Definition at line 168 of file hrplib/hrpModel/World.h.

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

• hrplib/hrpModel/World.h
• hrplib/hrpModel/World.cpp