Choreonoid  1.1
Public メソッド | Public 変数 | すべてのメンバ一覧
クラス テンプレート cnoid::World< TConstraintForceSolver >

#include <World.h>

cnoid::World< TConstraintForceSolver >に対する継承グラフ
cnoid::WorldBase

Public メソッド

 World ()
 
virtual void initialize ()
 initialize this world. This must be called after all bodies are registered. [詳細]
 
virtual void calcNextState ()
 compute forward dynamics and update current state [詳細]
 
- Public メソッド inherited from cnoid::WorldBase
 WorldBase ()
 
virtual ~WorldBase ()
 
int numBodies ()
 get the number of bodies in this world [詳細]
 
BodyPtr body (int index)
 get body by index [詳細]
 
BodyPtr body (const std::string &name)
 get body by name [詳細]
 
ForwardDynamicsPtr forwardDynamics (int index)
 get forward dynamics computation method for body [詳細]
 
int bodyIndex (const std::string &name)
 get index of body by name [詳細]
 
int addBody (BodyPtr body)
 add body to this world [詳細]
 
void clearBodies ()
 clear bodies in this world [詳細]
 
void clearCollisionPairs ()
 clear collision pairs [詳細]
 
void setTimeStep (double dt)
 set time step [詳細]
 
double timeStep (void) const
 get time step [詳細]
 
void setCurrentTime (double tm)
 set current time [詳細]
 
double currentTime (void) const
 get current time [詳細]
 
void setGravityAcceleration (const Vector3 &g)
 set gravity acceleration [詳細]
 
const Vector3gravityAcceleration ()
 get gravity acceleration [詳細]
 
void enableSensors (bool on)
 enable/disable sensor simulation [詳細]
 
void setEulerMethod ()
 choose euler method for integration [詳細]
 
void setRungeKuttaMethod ()
 choose runge-kutta method for integration [詳細]
 
std::pair< int, bool > getIndexOfLinkPairs (Link *link1, Link *link2)
 get index of link pairs [詳細]
 

Public 変数

TConstraintForceSolver constraintForceSolver
 

Additional Inherited Members

- Protected 変数 inherited from cnoid::WorldBase
double currentTime_
 
double timeStep_
 
std::vector< BodyInfobodyInfoArray
 
bool sensorsAreEnabled
 

コンストラクタとデストラクタ

template<class TConstraintForceSolver>
cnoid::World< TConstraintForceSolver >::World ( )
inline

関数

template<class TConstraintForceSolver>
virtual void cnoid::World< TConstraintForceSolver >::calcNextState ( )
inlinevirtual

compute forward dynamics and update current state

cnoid::WorldBaseを再定義しています。

template<class TConstraintForceSolver>
virtual void cnoid::World< TConstraintForceSolver >::initialize ( void  )
inlinevirtual

initialize this world. This must be called after all bodies are registered.

cnoid::WorldBaseを再定義しています。

変数

template<class TConstraintForceSolver>
TConstraintForceSolver cnoid::World< TConstraintForceSolver >::constraintForceSolver

このクラスの説明は次のファイルから生成されました: