6 #ifndef CNOID_BODY_FORWARD_DYNAMICS_ABM_H 7 #define CNOID_BODY_FORWARD_DYNAMICS_ABM_H 25 virtual void initialize();
26 virtual void calcNextState();
30 void calcMotionWithEulerMethod();
31 void integrateRungeKuttaOneStep(
double r,
double dt);
32 void calcMotionWithRungeKuttaMethod();
37 void calcABMPhase1(
bool updateNonSpatialVariables);
43 void calcABMPhase2Part1();
44 void calcABMPhase2Part2();
51 inline void calcABMFirstHalf();
52 inline void calcABMLastHalf();
54 void updateForceSensors();
60 std::vector<double> q0;
61 std::vector<double> dq0;
67 std::vector<double> dq;
68 std::vector<double> ddq;
Definition: ForwardDynamicsABM.h:17
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
Definition: ForwardDynamicsABM.h:20
Eigen::Transform< double, 3, Eigen::AffineCompact > Position
Definition: EigenTypes.h:73
Defines the minimum processing for performing pasing file for STL.
Definition: AbstractSceneLoader.h:9
Eigen::Vector3d Vector3
Definition: EigenTypes.h:58
#define CNOID_EXPORT
Definition: Util/exportdecl.h:37
Definition: ForwardDynamics.h:24