#include <DyBody.h>
Inheritance diagram for cnoid::DyBody:
Public Member Functions | |
| DyBody () | |
| DyBody (const Body &org) | |
| virtual Body * | clone () const |
| virtual Link * | createLink (const Link *org=0) const |
| DyLink * | joint (int id) const |
| DyLink * | link (int index) const |
| DyLink * | link (const std::string &name) const |
| DyLink * | rootLink () 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 |
| Link * | joint (int id) const |
| int | numLinks () const |
| Link * | link (int index) const |
| const LinkTraverse & | linkTraverse () const |
| Link * | link (const std::string &name) const |
| Link * | rootLink () const |
| int | numDevices () const |
| Device * | device (int index) const |
| const DeviceList & | devices () const |
| template<class DeviceType > | |
| DeviceList< DeviceType > | devices () const |
| template<class DeviceType > | |
| DeviceType * | findDevice (const std::string &name) const |
| Device * | findDevice (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 Position & | defaultPosition () const |
| double | mass () const |
| const Vector3 & | calcCenterOfMass () |
| const Vector3 & | centerOfMass () const |
| void | calcTotalMomentum (Vector3 &out_P, Vector3 &out_L) |
| void | calcForwardKinematics (bool calcVelocity=false, bool calcAcceleration=false) |
| void | clearExternalForces () |
| int | numExtraJoints () const |
| ExtraJoint & | extraJoint (int index) |
| const ExtraJoint & | extraJoint (int index) const |
| void | addExtraJoint (const ExtraJoint &extraJoint) |
| void | clearExtraJoints () |
| const Mapping * | info () const |
| Mapping * | info () |
| 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 |
| BodyCustomizerInterface * | customizerInterface () 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 BodyInterface * | bodyInterface () |
| 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()
|
virtual |
Reimplemented from cnoid::Body.
◆ createLink()
Reimplemented from cnoid::Body.
◆ joint()
|
inline |
◆ link() [1/2]
|
inline |
◆ link() [2/2]
|
inline |
◆ rootLink()
|
inline |
The documentation for this class was generated from the following files:
