Choreonoid
1.5
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#include <DyBody.h>
Public Member Functions | |
DyBody () | |
DyBody (const Body &org) | |
virtual Body * | clone () const |
virtual Link * | createLink (const Link *org=0) const |
DyLink * | joint (int id) const |
DyLink * | link (int index) const |
DyLink * | link (const std::string &name) const |
DyLink * | rootLink () const |
void | calcSpatialForwardKinematics () |
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Body () | |
Body (const Body &org) | |
virtual | ~Body () |
const std::string & | name () const |
void | setName (const std::string &name) |
const std::string & | modelName () const |
void | setModelName (const std::string &name) |
void | setRootLink (Link *link) |
void | updateLinkTree () |
void | initializeState () |
int | numJoints () const |
int | numVirtualJoints () const |
int | numAllJoints () const |
Link * | joint (int id) const |
int | numLinks () const |
Link * | link (int index) const |
const LinkTraverse & | linkTraverse () const |
Link * | link (const std::string &name) const |
Link * | rootLink () const |
int | numDevices () const |
Device * | device (int index) const |
const DeviceList & | devices () const |
template<class DeviceType > | |
DeviceList< DeviceType > | devices () const |
template<class DeviceType > | |
DeviceType * | findDevice (const std::string &name) const |
Device * | findDevice (const std::string &name) const |
void | addDevice (Device *device) |
void | initializeDeviceStates () |
void | clearDevices () |
bool | isStaticModel () const |
bool | isFixedRootModel () const |
void | resetDefaultPosition (const Position &T) |
const Position & | defaultPosition () const |
double | mass () const |
const Vector3 & | calcCenterOfMass () |
const Vector3 & | centerOfMass () const |
void | calcTotalMomentum (Vector3 &out_P, Vector3 &out_L) |
void | calcForwardKinematics (bool calcVelocity=false, bool calcAcceleration=false) |
void | clearExternalForces () |
int | numExtraJoints () const |
ExtraJoint & | extraJoint (int index) |
const ExtraJoint & | extraJoint (int index) const |
void | addExtraJoint (const ExtraJoint &extraJoint) |
void | clearExtraJoints () |
const Mapping * | info () const |
Mapping * | info () |
void | resetInfo (Mapping *info) |
void | cloneShapes (SgCloneMap &cloneMap) |
template<class T > | |
T * | findCache (const std::string &name) |
template<class T > | |
const T * | findCache (const std::string &name) const |
template<class T > | |
T * | getOrCreateCache (const std::string &name) |
bool | getCaches (PolymorphicReferencedArrayBase<> &out_caches, std::vector< std::string > &out_names) const |
void | removeCache (const std::string &name) |
BodyCustomizerHandle | customizerHandle () const |
BodyCustomizerInterface * | customizerInterface () const |
bool | installCustomizer () |
bool | installCustomizer (BodyCustomizerInterface *customizerInterface) |
bool | hasVirtualJointForces () const |
void | setVirtualJointForces () |
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virtual | ~Referenced () |
void | addRef () |
void | releaseRef () |
Additional Inherited Members | |
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enum | ExtraJointType { EJ_PISTON, EJ_BALL } |
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static void | addCustomizerDirectory (const std::string &path) |
static BodyInterface * | bodyInterface () |
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void | copy (const Body &org) |
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Referenced () | |
Referenced (const Referenced &org) | |
int | refCount () const |
A Body class used for forward dynamics based on the articulated body method (ABM)
DyBody::DyBody | ( | ) |
DyBody::DyBody | ( | const Body & | org | ) |
void DyBody::calcSpatialForwardKinematics | ( | ) |
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virtual |
Reimplemented from cnoid::Body.
Reimplemented from cnoid::Body.
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inline |
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inline |
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inline |