Choreonoid
1.1
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#include <World.h>
クラス | |
struct | BodyInfo |
公開メンバ関数 | |
WorldBase () | |
virtual | ~WorldBase () |
int | numBodies () |
get the number of bodies in this world [詳解] | |
BodyPtr | body (int index) |
get body by index [詳解] | |
BodyPtr | body (const std::string &name) |
get body by name [詳解] | |
ForwardDynamicsPtr | forwardDynamics (int index) |
get forward dynamics computation method for body [詳解] | |
int | bodyIndex (const std::string &name) |
get index of body by name [詳解] | |
int | addBody (BodyPtr body) |
add body to this world [詳解] | |
void | clearBodies () |
clear bodies in this world [詳解] | |
void | clearCollisionPairs () |
clear collision pairs [詳解] | |
void | setTimeStep (double dt) |
set time step [詳解] | |
double | timeStep (void) const |
get time step [詳解] | |
void | setCurrentTime (double tm) |
set current time [詳解] | |
double | currentTime (void) const |
get current time [詳解] | |
void | setGravityAcceleration (const Vector3 &g) |
set gravity acceleration [詳解] | |
const Vector3 & | gravityAcceleration () |
get gravity acceleration [詳解] | |
void | enableSensors (bool on) |
enable/disable sensor simulation [詳解] | |
void | setEulerMethod () |
choose euler method for integration [詳解] | |
void | setRungeKuttaMethod () |
choose runge-kutta method for integration [詳解] | |
virtual void | initialize () |
initialize this world. This must be called after all bodies are registered. [詳解] | |
virtual void | calcNextState () |
compute forward dynamics and update current state [詳解] | |
std::pair< int, bool > | getIndexOfLinkPairs (Link *link1, Link *link2) |
get index of link pairs [詳解] | |
限定公開変数類 | |
double | currentTime_ |
double | timeStep_ |
std::vector< BodyInfo > | bodyInfoArray |
bool | sensorsAreEnabled |
WorldBase::WorldBase | ( | ) |
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virtual |
int WorldBase::addBody | ( | BodyPtr | body | ) |
add body to this world
body |
BodyPtr WorldBase::body | ( | int | index | ) |
get body by index
index | of the body |
BodyPtr WorldBase::body | ( | const std::string & | name | ) |
get body by name
name | of the body |
int WorldBase::bodyIndex | ( | const std::string & | name | ) |
get index of body by name
name | of the body |
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virtual |
compute forward dynamics and update current state
cnoid::World< TConstraintForceSolver >, cnoid::World< cnoid::ConstraintForceSolver >で再実装されています。
void WorldBase::clearBodies | ( | ) |
clear bodies in this world
void WorldBase::clearCollisionPairs | ( | ) |
clear collision pairs
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inline |
get current time
void WorldBase::enableSensors | ( | bool | on | ) |
enable/disable sensor simulation
on | true to enable, false to disable |
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inline |
get forward dynamics computation method for body
index | index of the body |
get index of link pairs
link1 | link1 |
link2 | link2 |
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inline |
get gravity acceleration
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virtual |
initialize this world. This must be called after all bodies are registered.
cnoid::World< TConstraintForceSolver >, cnoid::World< cnoid::ConstraintForceSolver >で再実装されています。
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inline |
get the number of bodies in this world
void WorldBase::setCurrentTime | ( | double | tm | ) |
set current time
tm | current time[s] |
void WorldBase::setEulerMethod | ( | ) |
choose euler method for integration
void WorldBase::setGravityAcceleration | ( | const Vector3 & | g | ) |
set gravity acceleration
g | gravity acceleration[m/s^2] |
void WorldBase::setRungeKuttaMethod | ( | ) |
choose runge-kutta method for integration
void WorldBase::setTimeStep | ( | double | dt | ) |
set time step
dt | time step[s] |
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inline |
get time step
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protected |
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protected |
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protected |
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protected |