Classes | Typedefs | Functions | Variables
ODE_World.h File Reference
#include <ode/ode.h>
#include <hrpCorba/ModelLoader.hh>
#include <hrpModel/World.h>
#include <hrpModel/Body.h>
#include <hrpModel/ForwardDynamics.h>
#include <hrpUtil/Eigen4d.h>
#include <string>
#include <vector>
#include "ODE_Link.h"
Include dependency graph for ODE_World.h:
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Go to the source code of this file.

Classes

struct  ODE_World::LinkPair
 
class  ODE_ForwardDynamics
 
class  ODE_World
 

Typedefs

typedef boost::shared_ptr< ODE_ForwardDynamicsODE_ForwardDynamicsPtr
 

Functions

static void ODE_collideCallback (void *data, dGeomID o1, dGeomID o2)
 

Variables

static const dReal CFM = 10e-6
 
static const int COLLISION_MAX_POINT = 100
 
static const dReal CONTACT_FDIR1_X = 0.0
 
static const dReal CONTACT_FDIR1_Y = 0.0
 
static const dReal CONTACT_FDIR1_Z = 0.0
 
static const dReal CONTACT_MAX_CORRECTING_VEL = dInfinity
 
static const dReal CONTACT_SURFACE_LAYER = 0.0
 
static const dReal ERP = 0.2
 
static const int QUICKSTEP_NUM_ITERATIONS = 20
 
static const dReal SURFACE_BOUNCE = 0.0
 
static const dReal SURFACE_BOUNCE_VEL = 0.0
 
static const int SURFACE_MODE
 
static const dReal SURFACE_MOTION1 = 0.0
 
static const dReal SURFACE_MOTION2 = 0.0
 
static const dReal SURFACE_MU = dInfinity
 
static const dReal SURFACE_MU2 = 0.0
 
static const dReal SURFACE_SLIP1 = 0.0
 
static const dReal SURFACE_SLIP2 = 0.0
 
static const dReal SURFACE_SOFT_CFM = 0.0
 
static const dReal SURFACE_SOFT_ERP = 0.0
 
static const bool USE_QUICKSTEP =true
 

Typedef Documentation

◆ ODE_ForwardDynamicsPtr

typedef boost::shared_ptr<ODE_ForwardDynamics> ODE_ForwardDynamicsPtr

Definition at line 148 of file ODE_World.h.

Function Documentation

◆ ODE_collideCallback()

static void ODE_collideCallback ( void data,
dGeomID  o1,
dGeomID  o2 
)
static

Definition at line 205 of file ODE_World.cpp.

Variable Documentation

◆ CFM

const dReal CFM = 10e-6
static

Definition at line 30 of file ODE_World.h.

◆ COLLISION_MAX_POINT

const int COLLISION_MAX_POINT = 100
static

Definition at line 36 of file ODE_World.h.

◆ CONTACT_FDIR1_X

const dReal CONTACT_FDIR1_X = 0.0
static

Definition at line 64 of file ODE_World.h.

◆ CONTACT_FDIR1_Y

const dReal CONTACT_FDIR1_Y = 0.0
static

Definition at line 65 of file ODE_World.h.

◆ CONTACT_FDIR1_Z

const dReal CONTACT_FDIR1_Z = 0.0
static

Definition at line 66 of file ODE_World.h.

◆ CONTACT_MAX_CORRECTING_VEL

const dReal CONTACT_MAX_CORRECTING_VEL = dInfinity
static

Definition at line 33 of file ODE_World.h.

◆ CONTACT_SURFACE_LAYER

const dReal CONTACT_SURFACE_LAYER = 0.0
static

Definition at line 34 of file ODE_World.h.

◆ ERP

const dReal ERP = 0.2
static

Definition at line 32 of file ODE_World.h.

◆ QUICKSTEP_NUM_ITERATIONS

const int QUICKSTEP_NUM_ITERATIONS = 20
static

Definition at line 25 of file ODE_World.h.

◆ SURFACE_BOUNCE

const dReal SURFACE_BOUNCE = 0.0
static

Definition at line 56 of file ODE_World.h.

◆ SURFACE_BOUNCE_VEL

const dReal SURFACE_BOUNCE_VEL = 0.0
static

Definition at line 57 of file ODE_World.h.

◆ SURFACE_MODE

const int SURFACE_MODE
static
Initial value:
= 0
| dContactBounce

Definition at line 38 of file ODE_World.h.

◆ SURFACE_MOTION1

const dReal SURFACE_MOTION1 = 0.0
static

Definition at line 60 of file ODE_World.h.

◆ SURFACE_MOTION2

const dReal SURFACE_MOTION2 = 0.0
static

Definition at line 61 of file ODE_World.h.

◆ SURFACE_MU

const dReal SURFACE_MU = dInfinity
static

Definition at line 54 of file ODE_World.h.

◆ SURFACE_MU2

const dReal SURFACE_MU2 = 0.0
static

Definition at line 55 of file ODE_World.h.

◆ SURFACE_SLIP1

const dReal SURFACE_SLIP1 = 0.0
static

Definition at line 62 of file ODE_World.h.

◆ SURFACE_SLIP2

const dReal SURFACE_SLIP2 = 0.0
static

Definition at line 63 of file ODE_World.h.

◆ SURFACE_SOFT_CFM

const dReal SURFACE_SOFT_CFM = 0.0
static

Definition at line 59 of file ODE_World.h.

◆ SURFACE_SOFT_ERP

const dReal SURFACE_SOFT_ERP = 0.0
static

Definition at line 58 of file ODE_World.h.

◆ USE_QUICKSTEP

const bool USE_QUICKSTEP =true
static

Definition at line 24 of file ODE_World.h.



openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Thu Sep 8 2022 02:24:06