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

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: