Choreonoid
1.5
|
#include <DyWorld.h>
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... | |
![]() | |
WorldBase () | |
virtual | ~WorldBase () |
int | numBodies () const |
get the number of bodies in this world More... | |
DyBody * | body (int index) const |
get body by index More... | |
DyBody * | body (const std::string &name) const |
get body by name More... | |
ForwardDynamicsPtr & | forwardDynamics (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 Vector3 & | gravityAcceleration () 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 | |
![]() | |
double | currentTime_ |
double | timeStep_ |
std::vector< BodyInfo > | bodyInfoArray |
bool | sensorsAreEnabled |
bool | isOldAccelSensorCalcMode |
|
inline |
|
inlinevirtual |
compute forward dynamics and update current state
Reimplemented from cnoid::WorldBase.
|
inlinevirtual |
initialize this world. This must be called after all bodies are registered.
Reimplemented from cnoid::WorldBase.
TConstraintForceSolver cnoid::World< TConstraintForceSolver >::constraintForceSolver |