6 #ifndef CNOID_BODY_FORWARD_DYNAMICS_ABM_H_INCLUDED
7 #define CNOID_BODY_FORWARD_DYNAMICS_ABM_H_INCLUDED
10 #include <boost/intrusive_ptr.hpp>
31 virtual void calcNextState();
35 void calcMotionWithEulerMethod();
36 void integrateRungeKuttaOneStep(
double r,
double dt);
37 void calcMotionWithRungeKuttaMethod();
48 void calcABMPhase2Part1();
49 void calcABMPhase2Part2();
56 inline void calcABMFirstHalf();
57 inline void calcABMLastHalf();
59 void updateForceSensors();
67 std::vector<double> q0;
68 std::vector<double> dq0;
74 std::vector<double> dq;
75 std::vector<double> ddq;
boost::intrusive_ptr< Body > BodyPtr
Definition: Body.h:22
Definition: ForwardDynamicsABM.h:23
Definition: EasyScanner.h:16
Eigen::Vector3d Vector3
Definition: EigenTypes.h:26
#define CNOID_EXPORT
Definition: Util/exportdecl.h:13
Eigen::Matrix3d Matrix3
Definition: EigenTypes.h:25
Definition: ForwardDynamics.h:23