Inheritance diagram for cnoid::ForwardDynamicsABM:

Public Member Functions
	ForwardDynamicsABM (DyBody *body)

	~ForwardDynamicsABM ()

virtual void	initialize ()

virtual void	calcNextState ()

Public Member Functions inherited from cnoid::ForwardDynamics
	ForwardDynamics (DyBody *body)

virtual	~ForwardDynamics ()

void	setGravityAcceleration (const Vector3 &g)

void	setEulerMethod ()

void	setRungeKuttaMethod ()

void	setTimeStep (double timeStep)

void	enableSensors (bool on)

void	setOldAccelSensorCalcMode (bool on)

Public Attributes
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Public Attributes inherited from cnoid::ForwardDynamics
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Additional Inherited Members
Protected Types inherited from cnoid::ForwardDynamics
enum	{ EULER_METHOD, RUNGEKUTTA_METHOD }

Protected Member Functions inherited from cnoid::ForwardDynamics
virtual void	initializeSensors ()

Static Protected Member Functions inherited from cnoid::ForwardDynamics
static void	SE3exp (Position &out_T, const Position &T0, const Vector3 &w, const Vector3 &vo, double dt)
	update position/orientation using spatial velocity More...

Protected Attributes inherited from cnoid::ForwardDynamics
DyBodyPtr	body

Vector3	g

double	timeStep

bool	sensorsEnabled

BasicSensorSimulationHelper	sensorHelper

enum cnoid::ForwardDynamics:: { ... }	integrationMode

Detailed Description

Forward dynamics calculation using Featherstone's Articulated Body Method (ABM)

Constructor & Destructor Documentation

ForwardDynamicsABM::ForwardDynamicsABM ( DyBody * body )

ForwardDynamicsABM::~ForwardDynamicsABM ( )

void ForwardDynamicsABM::calcNextState ( )

virtual

void ForwardDynamicsABM::initialize ( void )

virtual

cnoid::ForwardDynamicsABM::EIGEN_MAKE_ALIGNED_OPERATOR_NEW

The documentation for this class was generated from the following files: