cnoid::WorldBase Class Reference

#include <DyWorld.h>

Inheritance diagram for cnoid::WorldBase:

Classes
struct	BodyInfo

Public Member Functions
	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...
virtual void	initialize ()
	initialize this world. This must be called after all bodies are registered. More...
void	setVirtualJointForces ()
virtual void	calcNextState ()
	compute forward dynamics and update current state More...
std::pair< int, bool >	getIndexOfLinkPairs (DyLink *link1, DyLink *link2)
	get index of link pairs More...

Protected Attributes
double	currentTime_
double	timeStep_
std::vector< BodyInfo >	bodyInfoArray
bool	sensorsAreEnabled
bool	isOldAccelSensorCalcMode

Constructor & Destructor Documentation

WorldBase::WorldBase

(

)

WorldBase::~WorldBase ( )

virtual

Member Function Documentation

int WorldBase::addBody

(

DyBody *

body

)

add body to this world

Parameters

body

Returns

index of the body

Note

This must be called before initialize() is called.

int WorldBase::addBody	(	DyBody *	body,
		const ForwardDynamicsPtr &	forwardDynamics
	)

Use this method instead of addBody(const DyBodyPtr& body) when you want to specify a forward dynamics calculater.

DyBody * WorldBase::body

(

int

index

)

const

get body by index

Parameters

index

of the body

Returns

body

DyBody * WorldBase::body

(

const std::string &

name

)

const

get body by name

Parameters

name	of the body

Returns

body

int WorldBase::bodyIndex

(

const std::string &

name

)

const

get index of body by name

Parameters

name	of the body

Returns

index of the body

void WorldBase::calcNextState ( )

virtual

compute forward dynamics and update current state

Reimplemented in cnoid::World< TConstraintForceSolver >, and cnoid::World< cnoid::ConstraintForceSolver >.

void WorldBase::clearBodies

(

)

clear bodies in this world

void WorldBase::clearCollisionPairs

(

)

clear collision pairs

double cnoid::WorldBase::currentTime ( void  ) const

inline

get current time

Returns

current time[s]

void WorldBase::enableSensors

(

bool

on

)

enable/disable sensor simulation

Parameters

on	true to enable, false to disable

Note

This must be called before initialize() is called.

ForwardDynamicsPtr& cnoid::WorldBase::forwardDynamics ( int  index )

inline

get forward dynamics computation method for body

Parameters

index

index of the body

Returns

forward dynamics computation method

std::pair< int, bool > WorldBase::getIndexOfLinkPairs	(	DyLink *	link1,
		DyLink *	link2
	)

get index of link pairs

Parameters

link1	link1
link2	link2

Returns

pair of index and flag. The flag is true if the pair was already registered, false othewise.

const Vector3& cnoid::WorldBase::gravityAcceleration ( ) const

inline

get gravity acceleration

Returns

gravity accleration

void WorldBase::initialize ( void  )

virtual

initialize this world. This must be called after all bodies are registered.

Reimplemented in cnoid::World< TConstraintForceSolver >, and cnoid::World< cnoid::ConstraintForceSolver >.

int cnoid::WorldBase::numBodies ( ) const

inline

get the number of bodies in this world

Returns

the number of bodies

void WorldBase::setCurrentTime

(

double

tm

)

set current time

Parameters

tm	current time[s]

void WorldBase::setEulerMethod

(

)

choose euler method for integration

void WorldBase::setGravityAcceleration

(

const Vector3 &

g

)

set gravity acceleration

Parameters

g	gravity acceleration[m/s^2]

void WorldBase::setOldAccelSensorCalcMode

(

bool

on

)

void WorldBase::setRungeKuttaMethod

(

)

choose runge-kutta method for integration

void WorldBase::setTimeStep

(

double

dt

)

set time step

Parameters

dt	time step[s]

void WorldBase::setVirtualJointForces

(

)

double cnoid::WorldBase::timeStep ( void  ) const

inline

get time step

Returns

time step[s]

Member Data Documentation

std::vector<BodyInfo> cnoid::WorldBase::bodyInfoArray

protected

double cnoid::WorldBase::currentTime_

protected

bool cnoid::WorldBase::isOldAccelSensorCalcMode

protected

bool cnoid::WorldBase::sensorsAreEnabled

protected

double cnoid::WorldBase::timeStep_

protected

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

• DyWorld.h
• DyWorld.cpp