Classes | Macros | Typedefs | Enumerations
psim.h File Reference

Forward dynamics computation based on Assembly-Disassembly Algorithm. More...

#include <chain.h>
#include <fMatrix3.h>
#include <list>
#include <vector>
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Classes

struct  JointInfo
 
class  pJoint
 Class for representing "handle"; two pJoint instances are attached to both sides of each joint. More...
 
class  pLink
 Class for representing a single link in a schedule tree. More...
 
class  pSim
 Main class for forward dynamics computation. More...
 
class  pSubChain
 Node for schedule tree; represents a partial chain. More...
 

Macros

#define N_FRIC_CONE_DIV   8
 Number of vertices of the friction cone approximation. More...
 

Typedefs

typedef std::vector< Joint * > joint_list
 
typedef std::vector< class pJoint * > p_joint_list
 
typedef std::list< class pSubChain * > subchain_list
 

Enumerations

enum  PSIM_AXIS {
  PSIM_AXIS_NULL = -1, PSIM_AXIS_X, PSIM_AXIS_Y, PSIM_AXIS_Z,
  PSIM_AXIS_RX, PSIM_AXIS_RY, PSIM_AXIS_RZ
}
 

Detailed Description

Forward dynamics computation based on Assembly-Disassembly Algorithm.

Author
Katsu Yamane
Date
02/23/2004

Definition in file psim.h.

Macro Definition Documentation

◆ N_FRIC_CONE_DIV

#define N_FRIC_CONE_DIV   8

Number of vertices of the friction cone approximation.

Definition at line 33 of file psim.h.

Typedef Documentation

◆ joint_list

typedef std::vector<Joint*> joint_list

Definition at line 29 of file psim.h.

◆ p_joint_list

typedef std::vector<class pJoint*> p_joint_list

Definition at line 30 of file psim.h.

◆ subchain_list

typedef std::list<class pSubChain*> subchain_list

Definition at line 27 of file psim.h.

Enumeration Type Documentation

◆ PSIM_AXIS

enum PSIM_AXIS

enum for defining the joint axis IMPORTANT NOTICE: The axis of 1DOF joints should be parallel to x, y, or z axis of the parent joint. Other axis is not supported.

Enumerator
PSIM_AXIS_NULL 
PSIM_AXIS_X 
PSIM_AXIS_Y 
PSIM_AXIS_Z 
PSIM_AXIS_RX 
PSIM_AXIS_RY 
PSIM_AXIS_RZ 

Definition at line 57 of file psim.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