Choreonoid  1.5
Public Member Functions | Public Attributes | List of all members
cnoid::ForwardDynamicsABM Class Reference

#include <ForwardDynamicsABM.h>

Inheritance diagram for cnoid::ForwardDynamicsABM:
cnoid::ForwardDynamics

Public Member Functions

 ForwardDynamicsABM (DyBody *body)
 
 ~ForwardDynamicsABM ()
 
virtual void initialize ()
 
virtual void calcNextState ()
 
- Public Member Functions inherited from cnoid::ForwardDynamics
 ForwardDynamics (DyBody *body)
 
virtual ~ForwardDynamics ()
 
void setGravityAcceleration (const Vector3 &g)
 
void setEulerMethod ()
 
void setRungeKuttaMethod ()
 
void setTimeStep (double timeStep)
 
void enableSensors (bool on)
 
void setOldAccelSensorCalcMode (bool on)
 

Public Attributes

 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
- Public Attributes inherited from cnoid::ForwardDynamics
 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 

Additional Inherited Members

- Protected Types inherited from cnoid::ForwardDynamics
enum  { EULER_METHOD, RUNGEKUTTA_METHOD }
 
- Protected Member Functions inherited from cnoid::ForwardDynamics
virtual void initializeSensors ()
 
- Static Protected Member Functions inherited from cnoid::ForwardDynamics
static void SE3exp (Position &out_T, const Position &T0, const Vector3 &w, const Vector3 &vo, double dt)
 update position/orientation using spatial velocity More...
 
- Protected Attributes inherited from cnoid::ForwardDynamics
DyBodyPtr body
 
Vector3 g
 
double timeStep
 
bool sensorsEnabled
 
BasicSensorSimulationHelper sensorHelper
 
enum cnoid::ForwardDynamics:: { ... }  integrationMode
 

Detailed Description

Forward dynamics calculation using Featherstone's Articulated Body Method (ABM)

Constructor & Destructor Documentation

ForwardDynamicsABM::ForwardDynamicsABM ( DyBody body)
ForwardDynamicsABM::~ForwardDynamicsABM ( )

Member Function Documentation

void ForwardDynamicsABM::calcNextState ( )
virtual
void ForwardDynamicsABM::initialize ( void  )
virtual

Member Data Documentation

cnoid::ForwardDynamicsABM::EIGEN_MAKE_ALIGNED_OPERATOR_NEW

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