Choreonoid  1.5
Public Member Functions | List of all members
OpenHRP::DynamicsSimulator_impl Class Reference

#include <DynamicsSimulator_impl.h>

Inheritance diagram for OpenHRP::DynamicsSimulator_impl:

Public Member Functions

 DynamicsSimulator_impl (const cnoid::BodyPtr &body)
 
virtual ~DynamicsSimulator_impl ()
 
virtual void destroy ()
 
virtual void init (::CORBA::Double timeStep, OpenHRP::DynamicsSimulator::IntegrateMethod integrateOpt, OpenHRP::DynamicsSimulator::SensorOption sensorOpt)
 
virtual void registerVirtualLink (const char *char1, const char *link1, const char *char2, const char *link2, const LinkPosition &relTransform,::CORBA::Short transformDefined, const DblSequence9 &constraint, const char *connectionName)
 
virtual void getConnectionConstraintForce (const char *characterName, const char *connectionName, DblSequence6_out contactForce)
 
virtual void getCharacterSensorValues (const char *characterName, const char *sensorName, DblSequence_out values)
 
virtual void initSimulation ()
 
virtual void stepSimulation ()
 
virtual void setCharacterLinkData (const char *character, const char *link, OpenHRP::DynamicsSimulator::LinkDataType type, const DblSequence &data)
 
virtual void getCharacterLinkData (const char *characterName, const char *link, OpenHRP::DynamicsSimulator::LinkDataType type, DblSequence_out rdata)
 
virtual void getCharacterAllLinkData (const char *characterName, OpenHRP::DynamicsSimulator::LinkDataType type, DblSequence_out wdata)
 
virtual void setCharacterAllLinkData (const char *characterName, OpenHRP::DynamicsSimulator::LinkDataType type, const DblSequence &wdata)
 
virtual void setGVector (const DblSequence3 &wdata)
 
virtual void getGVector (DblSequence3_out wdata)
 
virtual void setCharacterAllJointModes (const char *characterName, OpenHRP::DynamicsSimulator::JointDriveMode jointMode)
 
virtual ::CORBA::Boolean calcCharacterInverseKinematics (const char *characterName, const char *baseLink, const char *targetLink, const LinkPosition &target)
 
virtual void calcCharacterForwardKinematics (const char *characterName)
 
virtual void calcWorldForwardKinematics ()
 
virtual void getWorldState (WorldState_out wstate)
 
virtual void getCharacterSensorState (const char *characterName, SensorState_out sstate)
 
virtual ::CORBA::Boolean getCharacterCollidingPairs (const char *characterName, LinkPairSequence_out pairs)
 
virtual void calcCharacterJacobian (const char *characterName, const char *baseLink, const char *targetLink, DblSequence_out jacobian)
 

Constructor & Destructor Documentation

DynamicsSimulator_impl::DynamicsSimulator_impl ( const cnoid::BodyPtr body)
DynamicsSimulator_impl::~DynamicsSimulator_impl ( )
virtual

Member Function Documentation

void DynamicsSimulator_impl::calcCharacterForwardKinematics ( const char *  characterName)
virtual
CORBA::Boolean DynamicsSimulator_impl::calcCharacterInverseKinematics ( const char *  characterName,
const char *  baseLink,
const char *  targetLink,
const LinkPosition &  target 
)
void DynamicsSimulator_impl::calcCharacterJacobian ( const char *  characterName,
const char *  baseLink,
const char *  targetLink,
DblSequence_out  jacobian 
)
virtual
void DynamicsSimulator_impl::calcWorldForwardKinematics ( )
virtual
void DynamicsSimulator_impl::destroy ( void  )
virtual
void DynamicsSimulator_impl::getCharacterAllLinkData ( const char *  characterName,
OpenHRP::DynamicsSimulator::LinkDataType  type,
DblSequence_out  wdata 
)
virtual
CORBA::Boolean DynamicsSimulator_impl::getCharacterCollidingPairs ( const char *  characterName,
LinkPairSequence_out  pairs 
)
void DynamicsSimulator_impl::getCharacterLinkData ( const char *  characterName,
const char *  link,
OpenHRP::DynamicsSimulator::LinkDataType  type,
DblSequence_out  rdata 
)
virtual
void DynamicsSimulator_impl::getCharacterSensorState ( const char *  characterName,
SensorState_out  sstate 
)
virtual
void DynamicsSimulator_impl::getCharacterSensorValues ( const char *  characterName,
const char *  sensorName,
DblSequence_out  values 
)
virtual
void DynamicsSimulator_impl::getConnectionConstraintForce ( const char *  characterName,
const char *  connectionName,
DblSequence6_out  contactForce 
)
virtual
void DynamicsSimulator_impl::getGVector ( DblSequence3_out  wdata)
virtual
void DynamicsSimulator_impl::getWorldState ( WorldState_out  wstate)
virtual
void DynamicsSimulator_impl::init ( ::CORBA::Double  timeStep,
OpenHRP::DynamicsSimulator::IntegrateMethod  integrateOpt,
OpenHRP::DynamicsSimulator::SensorOption  sensorOpt 
)
virtual
void DynamicsSimulator_impl::initSimulation ( )
virtual
void DynamicsSimulator_impl::registerVirtualLink ( const char *  char1,
const char *  link1,
const char *  char2,
const char *  link2,
const LinkPosition &  relTransform,
::CORBA::Short  transformDefined,
const DblSequence9 &  constraint,
const char *  connectionName 
)
virtual
void DynamicsSimulator_impl::setCharacterAllJointModes ( const char *  characterName,
OpenHRP::DynamicsSimulator::JointDriveMode  jointMode 
)
virtual
void DynamicsSimulator_impl::setCharacterAllLinkData ( const char *  characterName,
OpenHRP::DynamicsSimulator::LinkDataType  type,
const DblSequence &  wdata 
)
virtual
void DynamicsSimulator_impl::setCharacterLinkData ( const char *  character,
const char *  link,
OpenHRP::DynamicsSimulator::LinkDataType  type,
const DblSequence &  data 
)
virtual
void DynamicsSimulator_impl::setGVector ( const DblSequence3 &  wdata)
virtual
void DynamicsSimulator_impl::stepSimulation ( )
virtual

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