Choreonoid
1.1
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#include <World.h>
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] | |
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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 Vector3 & | gravityAcceleration () |
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 | |
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double | currentTime_ |
double | timeStep_ |
std::vector< BodyInfo > | bodyInfoArray |
bool | sensorsAreEnabled |
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inline |
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inlinevirtual |
compute forward dynamics and update current state
cnoid::WorldBaseを再定義しています。
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inlinevirtual |
initialize this world. This must be called after all bodies are registered.
cnoid::WorldBaseを再定義しています。
TConstraintForceSolver cnoid::World< TConstraintForceSolver >::constraintForceSolver |