Public Member Functions | Private Attributes | List of all members
hrp::ConstraintForceSolver Class Reference

#include <ConstraintForceSolver.h>

Public Member Functions

bool addCollisionCheckLinkPair (int bodyIndex1, Link *link1, int bodyIndex2, Link *link2, double muStatic, double muDynamic, double culling_thresh, double restitution, double epsilon)
 
bool addExtraJoint (int bodyIndex1, Link *link1, int bodyIndex2, Link *link2, const double *link1LocalPos, const double *link2LocalPos, const short jointType, const double *jointAxis)
 
void clearCollisionCheckLinkPairs ()
 
void clearExternalForces ()
 
 ConstraintForceSolver (WorldBase &world)
 
void enableConstraintForceOutput (bool on)
 
double getAllowedPenetrationDepth () const
 
void initialize (void)
 
void setAllowedPenetrationDepth (double dVal)
 
void setGaussSeidelParameters (int maxNumIteration, int numInitialIteration, double maxRelError)
 
void setNegativeVelocityRatioForPenetration (double ratio)
 
void solve (OpenHRP::CollisionSequence &corbaCollisionSequence)
 
void useBuiltinCollisionDetector (bool on)
 
 ~ConstraintForceSolver ()
 

Private Attributes

CFSImplimpl
 

Detailed Description

Definition at line 29 of file ConstraintForceSolver.h.

Constructor & Destructor Documentation

◆ ConstraintForceSolver()

ConstraintForceSolver::ConstraintForceSolver ( WorldBase world)

Definition at line 2172 of file ConstraintForceSolver.cpp.

◆ ~ConstraintForceSolver()

ConstraintForceSolver::~ConstraintForceSolver ( )

Definition at line 2178 of file ConstraintForceSolver.cpp.

Member Function Documentation

◆ addCollisionCheckLinkPair()

bool ConstraintForceSolver::addCollisionCheckLinkPair ( int  bodyIndex1,
Link link1,
int  bodyIndex2,
Link link2,
double  muStatic,
double  muDynamic,
double  culling_thresh,
double  restitution,
double  epsilon 
)

Definition at line 2185 of file ConstraintForceSolver.cpp.

◆ addExtraJoint()

bool ConstraintForceSolver::addExtraJoint ( int  bodyIndex1,
Link link1,
int  bodyIndex2,
Link link2,
const double *  link1LocalPos,
const double *  link2LocalPos,
const short  jointType,
const double *  jointAxis 
)

Definition at line 2197 of file ConstraintForceSolver.cpp.

◆ clearCollisionCheckLinkPairs()

void ConstraintForceSolver::clearCollisionCheckLinkPairs ( )

Definition at line 2191 of file ConstraintForceSolver.cpp.

◆ clearExternalForces()

void ConstraintForceSolver::clearExternalForces ( )

Definition at line 2241 of file ConstraintForceSolver.cpp.

◆ enableConstraintForceOutput()

void ConstraintForceSolver::enableConstraintForceOutput ( bool  on)

Definition at line 2211 of file ConstraintForceSolver.cpp.

◆ getAllowedPenetrationDepth()

double ConstraintForceSolver::getAllowedPenetrationDepth ( ) const

Definition at line 2251 of file ConstraintForceSolver.cpp.

◆ initialize()

void ConstraintForceSolver::initialize ( void  )

Definition at line 2229 of file ConstraintForceSolver.cpp.

◆ setAllowedPenetrationDepth()

void ConstraintForceSolver::setAllowedPenetrationDepth ( double  dVal)

Definition at line 2246 of file ConstraintForceSolver.cpp.

◆ setGaussSeidelParameters()

void ConstraintForceSolver::setGaussSeidelParameters ( int  maxNumIteration,
int  numInitialIteration,
double  maxRelError 
)

Definition at line 2203 of file ConstraintForceSolver.cpp.

◆ setNegativeVelocityRatioForPenetration()

void ConstraintForceSolver::setNegativeVelocityRatioForPenetration ( double  ratio)

Definition at line 2222 of file ConstraintForceSolver.cpp.

◆ solve()

void ConstraintForceSolver::solve ( OpenHRP::CollisionSequence &  corbaCollisionSequence)

Definition at line 2235 of file ConstraintForceSolver.cpp.

◆ useBuiltinCollisionDetector()

void ConstraintForceSolver::useBuiltinCollisionDetector ( bool  on)

Definition at line 2217 of file ConstraintForceSolver.cpp.

Member Data Documentation

◆ impl

CFSImpl* hrp::ConstraintForceSolver::impl
private

Definition at line 31 of file ConstraintForceSolver.h.


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


openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Thu Sep 8 2022 02:24:08