#include <DyWorld.h>
Inheritance diagram for cnoid::World< TConstraintForceSolver >:
Public Member Functions | |
| World () | |
| virtual void | initialize () |
| initialize this world. This must be called after all bodies are registered. More... | |
| virtual void | calcNextState () |
| compute forward dynamics and update current state More... | |
 Public Member Functions inherited from cnoid::WorldBase | |
| WorldBase () | |
| virtual | ~WorldBase () |
| int | numBodies () const |
| get the number of bodies in this world More... | |
| DyBody * | body (int index) const |
| get body by index More... | |
| DyBody * | body (const std::string &name) const |
| get body by name More... | |
| ForwardDynamicsPtr & | forwardDynamics (int index) |
| get forward dynamics computation method for body More... | |
| int | bodyIndex (const std::string &name) const |
| get index of body by name More... | |
| int | addBody (DyBody *body) |
| add body to this world More... | |
| int | addBody (DyBody *body, const ForwardDynamicsPtr &forwardDynamics) |
| void | clearBodies () |
| clear bodies in this world More... | |
| void | clearCollisionPairs () |
| clear collision pairs More... | |
| void | setTimeStep (double dt) |
| set time step More... | |
| double | timeStep (void) const |
| get time step More... | |
| void | setCurrentTime (double tm) |
| set current time More... | |
| double | currentTime (void) const |
| get current time More... | |
| void | setGravityAcceleration (const Vector3 &g) |
| set gravity acceleration More... | |
| const Vector3 & | gravityAcceleration () const |
| get gravity acceleration More... | |
| void | enableSensors (bool on) |
| enable/disable sensor simulation More... | |
| void | setOldAccelSensorCalcMode (bool on) |
| void | setEulerMethod () |
| choose euler method for integration More... | |
| void | setRungeKuttaMethod () |
| choose runge-kutta method for integration More... | |
| void | setVirtualJointForces () |
| std::pair< int, bool > | getIndexOfLinkPairs (DyLink *link1, DyLink *link2) |
| get index of link pairs More... | |
Public Attributes | |
| TConstraintForceSolver | constraintForceSolver |
Additional Inherited Members | |
| Protected Attributes inherited from cnoid::WorldBase | |
| double | currentTime_ |
| double | timeStep_ |
| std::vector< BodyInfo > | bodyInfoArray |
| bool | sensorsAreEnabled |
| bool | isOldAccelSensorCalcMode |
Constructor & Destructor Documentation
◆ World()
template<class TConstraintForceSolver>
|
inline |
Member Function Documentation
◆ calcNextState()
template<class TConstraintForceSolver>
|
inlinevirtual |
compute forward dynamics and update current state
Reimplemented from cnoid::WorldBase.
◆ initialize()
template<class TConstraintForceSolver>
|
inlinevirtual |
initialize this world. This must be called after all bodies are registered.
Reimplemented from cnoid::WorldBase.
Member Data Documentation
◆ constraintForceSolver
template<class TConstraintForceSolver>
| TConstraintForceSolver cnoid::World< TConstraintForceSolver >::constraintForceSolver |
The documentation for this class was generated from the following file:
