2 #ifndef CNOID_OPENHRP_DYNAMICS_SIMULATOR_IMPL_H_INCLUDED 3 #define CNOID_OPENHRP_DYNAMICS_SIMULATOR_IMPL_H_INCLUDED 6 #include <cnoid/corba/OpenHRP/3.0/DynamicsSimulator.hh> 8 #include <cnoid/corba/OpenHRP/3.1/DynamicsSimulator.hh> 12 #include <cnoid/BasicSensors> 17 virtual public PortableServer::RefCountServantBase
25 virtual void registerCharacter(
const char* name, CharacterInfo_ptr cinfo);
26 virtual void registerCollisionCheckPair(
const char* char1,
const char* name1,
const char* char2,
const char* name2, ::CORBA::Double staticFriction, ::CORBA::Double slipFriction,
const DblSequence6& K,
const DblSequence6& C);
27 virtual void checkCollision();
30 virtual void registerCharacter(
const char* name, BodyInfo_ptr cinfo);
31 virtual void registerCollisionCheckPair(
const char* char1,
const char* name1,
const char* char2,
const char* name2, ::CORBA::Double staticFriction, ::CORBA::Double slipFriction,
const DblSequence6& K,
const DblSequence6& C, ::CORBA::Double culling_thresh);
32 virtual void registerIntersectionCheckPair(
const char* char1,
const char* name1,
const char* char2,
const char* name2, ::CORBA::Double tolerance);
33 virtual ::CORBA::Boolean checkCollision(::CORBA::Boolean checkAll);
34 virtual LinkPairSequence* checkIntersection(::CORBA::Boolean checkAll);
35 virtual DistanceSequence* checkDistance();
39 virtual void init(::CORBA::Double timeStep, OpenHRP::DynamicsSimulator::IntegrateMethod integrateOpt, OpenHRP::DynamicsSimulator::SensorOption sensorOpt);
40 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);
45 virtual void setCharacterLinkData(
const char* character,
const char* link, OpenHRP::DynamicsSimulator::LinkDataType type,
const DblSequence& data);
46 virtual void getCharacterLinkData(
const char* characterName,
const char* link, OpenHRP::DynamicsSimulator::LinkDataType type, DblSequence_out rdata);
47 virtual void getCharacterAllLinkData(
const char* characterName, OpenHRP::DynamicsSimulator::LinkDataType type, DblSequence_out wdata);
48 virtual void setCharacterAllLinkData(
const char* characterName, OpenHRP::DynamicsSimulator::LinkDataType type,
const DblSequence& wdata);
49 virtual void setGVector(
const DblSequence3& wdata);
50 virtual void getGVector(DblSequence3_out wdata);
52 virtual ::CORBA::Boolean
calcCharacterInverseKinematics(
const char* characterName,
const char* baseLink,
const char* targetLink,
const LinkPosition& target);
58 virtual void calcCharacterJacobian(
const char* characterName,
const char* baseLink,
const char* targetLink, DblSequence_out jacobian);
virtual void getCharacterLinkData(const char *characterName, const char *link, OpenHRP::DynamicsSimulator::LinkDataType type, DblSequence_out rdata)
Definition: DynamicsSimulator_impl.cpp:187
Definition: DynamicsSimulator_impl.h:14
virtual void setCharacterAllLinkData(const char *characterName, OpenHRP::DynamicsSimulator::LinkDataType type, const DblSequence &wdata)
Definition: DynamicsSimulator_impl.cpp:300
virtual void init(::CORBA::Double timeStep, OpenHRP::DynamicsSimulator::IntegrateMethod integrateOpt, OpenHRP::DynamicsSimulator::SensorOption sensorOpt)
Definition: DynamicsSimulator_impl.cpp:72
virtual void calcCharacterJacobian(const char *characterName, const char *baseLink, const char *targetLink, DblSequence_out jacobian)
Definition: DynamicsSimulator_impl.cpp:443
virtual void setCharacterAllJointModes(const char *characterName, OpenHRP::DynamicsSimulator::JointDriveMode jointMode)
Definition: DynamicsSimulator_impl.cpp:353
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)
Definition: DynamicsSimulator_impl.cpp:80
virtual void setCharacterLinkData(const char *character, const char *link, OpenHRP::DynamicsSimulator::LinkDataType type, const DblSequence &data)
Definition: DynamicsSimulator_impl.cpp:119
virtual ::CORBA::Boolean calcCharacterInverseKinematics(const char *characterName, const char *baseLink, const char *targetLink, const LinkPosition &target)
Definition: DynamicsSimulator_impl.cpp:359
virtual void setGVector(const DblSequence3 &wdata)
Definition: DynamicsSimulator_impl.cpp:341
virtual void getWorldState(WorldState_out wstate)
Definition: DynamicsSimulator_impl.cpp:400
virtual void getGVector(DblSequence3_out wdata)
Definition: DynamicsSimulator_impl.cpp:347
virtual void destroy()
Definition: DynamicsSimulator_impl.cpp:31
virtual void stepSimulation()
Definition: DynamicsSimulator_impl.cpp:113
virtual void getConnectionConstraintForce(const char *characterName, const char *connectionName, DblSequence6_out contactForce)
Definition: DynamicsSimulator_impl.cpp:88
virtual void initSimulation()
Definition: DynamicsSimulator_impl.cpp:107
virtual void getCharacterSensorValues(const char *characterName, const char *sensorName, DblSequence_out values)
Definition: DynamicsSimulator_impl.cpp:96
virtual ::CORBA::Boolean getCharacterCollidingPairs(const char *characterName, LinkPairSequence_out pairs)
Definition: DynamicsSimulator_impl.cpp:437
Definition: DynamicsSimulator_impl.h:16
virtual ~DynamicsSimulator_impl()
Definition: DynamicsSimulator_impl.cpp:23
virtual void calcCharacterForwardKinematics(const char *characterName)
Definition: DynamicsSimulator_impl.cpp:366
virtual void calcWorldForwardKinematics()
Definition: DynamicsSimulator_impl.cpp:372
virtual void getCharacterAllLinkData(const char *characterName, OpenHRP::DynamicsSimulator::LinkDataType type, DblSequence_out wdata)
Definition: DynamicsSimulator_impl.cpp:260
virtual void getCharacterSensorState(const char *characterName, SensorState_out sstate)
Definition: DynamicsSimulator_impl.cpp:406
DynamicsSimulator_impl(const cnoid::BodyPtr &body)
Definition: DynamicsSimulator_impl.cpp:14