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

#include <DyBody.h>

Inheritance diagram for cnoid::DyBody:
cnoid::Body cnoid::Referenced

Public Member Functions

 DyBody ()
 
 DyBody (const Body &org)
 
virtual Bodyclone () const
 
virtual LinkcreateLink (const Link *org=0) const
 
DyLinkjoint (int id) const
 
DyLinklink (int index) const
 
DyLinklink (const std::string &name) const
 
DyLinkrootLink () const
 
void calcSpatialForwardKinematics ()
 
- Public Member Functions inherited from cnoid::Body
 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
 
Linkjoint (int id) const
 
int numLinks () const
 
Linklink (int index) const
 
const LinkTraverselinkTraverse () const
 
Linklink (const std::string &name) const
 
LinkrootLink () const
 
int numDevices () const
 
Devicedevice (int index) const
 
const DeviceListdevices () const
 
template<class DeviceType >
DeviceList< DeviceType > devices () const
 
template<class DeviceType >
DeviceType * findDevice (const std::string &name) const
 
DevicefindDevice (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 PositiondefaultPosition () const
 
double mass () const
 
const Vector3calcCenterOfMass ()
 
const Vector3centerOfMass () const
 
void calcTotalMomentum (Vector3 &out_P, Vector3 &out_L)
 
void calcForwardKinematics (bool calcVelocity=false, bool calcAcceleration=false)
 
void clearExternalForces ()
 
int numExtraJoints () const
 
ExtraJointextraJoint (int index)
 
const ExtraJointextraJoint (int index) const
 
void addExtraJoint (const ExtraJoint &extraJoint)
 
void clearExtraJoints ()
 
const Mappinginfo () const
 
Mappinginfo ()
 
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
 
BodyCustomizerInterfacecustomizerInterface () const
 
bool installCustomizer ()
 
bool installCustomizer (BodyCustomizerInterface *customizerInterface)
 
bool hasVirtualJointForces () const
 
void setVirtualJointForces ()
 
- Public Member Functions inherited from cnoid::Referenced
virtual ~Referenced ()
 
void addRef ()
 
void releaseRef ()
 

Additional Inherited Members

- Public Types inherited from cnoid::Body
enum  ExtraJointType { EJ_PISTON, EJ_BALL }
 
- Static Public Member Functions inherited from cnoid::Body
static void addCustomizerDirectory (const std::string &path)
 
static BodyInterfacebodyInterface ()
 
- Protected Member Functions inherited from cnoid::Body
void copy (const Body &org)
 
- Protected Member Functions inherited from cnoid::Referenced
 Referenced ()
 
 Referenced (const Referenced &org)
 
int refCount () const
 

Detailed Description

A Body class used for forward dynamics based on the articulated body method (ABM)

Constructor & Destructor Documentation

◆ DyBody() [1/2]

DyBody::DyBody ( )

◆ DyBody() [2/2]

DyBody::DyBody ( const Body org)

Member Function Documentation

◆ calcSpatialForwardKinematics()

void DyBody::calcSpatialForwardKinematics ( )

◆ clone()

Body * DyBody::clone ( ) const
virtual

Reimplemented from cnoid::Body.

◆ createLink()

Link * DyBody::createLink ( const Link org = 0) const
virtual

Reimplemented from cnoid::Body.

◆ joint()

DyLink* cnoid::DyBody::joint ( int  id) const
inline

◆ link() [1/2]

DyLink* cnoid::DyBody::link ( int  index) const
inline

◆ link() [2/2]

DyLink* cnoid::DyBody::link ( const std::string &  name) const
inline

◆ rootLink()

DyLink* cnoid::DyBody::rootLink ( ) const
inline

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