Choreonoid  1.5
Public Member Functions | Public Attributes | List of all members
cnoid::World< TConstraintForceSolver > Class Template Reference

#include <DyWorld.h>

Inheritance diagram for cnoid::World< TConstraintForceSolver >:
cnoid::WorldBase

Public Member Functions

 World ()
 
virtual void initialize ()
 initialize this world. This must be called after all bodies are registered. More...
 
virtual void calcNextState ()
 compute forward dynamics and update current state More...
 
- Public Member Functions inherited from cnoid::WorldBase
 WorldBase ()
 
virtual ~WorldBase ()
 
int numBodies () const
 get the number of bodies in this world More...
 
DyBodybody (int index) const
 get body by index More...
 
DyBodybody (const std::string &name) const
 get body by name More...
 
ForwardDynamicsPtrforwardDynamics (int index)
 get forward dynamics computation method for body More...
 
int bodyIndex (const std::string &name) const
 get index of body by name More...
 
int addBody (DyBody *body)
 add body to this world More...
 
int addBody (DyBody *body, const ForwardDynamicsPtr &forwardDynamics)
 
void clearBodies ()
 clear bodies in this world More...
 
void clearCollisionPairs ()
 clear collision pairs More...
 
void setTimeStep (double dt)
 set time step More...
 
double timeStep (void) const
 get time step More...
 
void setCurrentTime (double tm)
 set current time More...
 
double currentTime (void) const
 get current time More...
 
void setGravityAcceleration (const Vector3 &g)
 set gravity acceleration More...
 
const Vector3gravityAcceleration () const
 get gravity acceleration More...
 
void enableSensors (bool on)
 enable/disable sensor simulation More...
 
void setOldAccelSensorCalcMode (bool on)
 
void setEulerMethod ()
 choose euler method for integration More...
 
void setRungeKuttaMethod ()
 choose runge-kutta method for integration More...
 
void setVirtualJointForces ()
 
std::pair< int, bool > getIndexOfLinkPairs (DyLink *link1, DyLink *link2)
 get index of link pairs More...
 

Public Attributes

TConstraintForceSolver constraintForceSolver
 

Additional Inherited Members

- Protected Attributes inherited from cnoid::WorldBase
double currentTime_
 
double timeStep_
 
std::vector< BodyInfobodyInfoArray
 
bool sensorsAreEnabled
 
bool isOldAccelSensorCalcMode
 

Constructor & Destructor Documentation

◆ World()

template<class TConstraintForceSolver>
cnoid::World< TConstraintForceSolver >::World ( )
inline

Member Function Documentation

◆ calcNextState()

template<class TConstraintForceSolver>
virtual void cnoid::World< TConstraintForceSolver >::calcNextState ( )
inlinevirtual

compute forward dynamics and update current state

Reimplemented from cnoid::WorldBase.

◆ initialize()

template<class TConstraintForceSolver>
virtual void cnoid::World< TConstraintForceSolver >::initialize ( void  )
inlinevirtual

initialize this world. This must be called after all bodies are registered.

Reimplemented from cnoid::WorldBase.

Member Data Documentation

◆ constraintForceSolver

template<class TConstraintForceSolver>
TConstraintForceSolver cnoid::World< TConstraintForceSolver >::constraintForceSolver

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