#include <World.h>
cnoid::World< TConstraintForceSolver > の継承関係図
公開メンバ関数 | |
| World () | |
| 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] | |
 基底クラス cnoid::WorldBase に属する継承公開メンバ関数 | |
| 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] | |
| std::pair< int, bool > | getIndexOfLinkPairs (Link *link1, Link *link2) |
| get index of link pairs [詳解] | |
公開変数類 | |
| TConstraintForceSolver | constraintForceSolver |
その他の継承メンバ | |
| 基底クラス cnoid::WorldBase に属する継承限定公開変数類 | |
| double | currentTime_ |
| double | timeStep_ |
| std::vector< BodyInfo > | bodyInfoArray |
| bool | sensorsAreEnabled |
構築子と解体子
template<class TConstraintForceSolver>
|
inline |
関数詳解
template<class TConstraintForceSolver>
|
inlinevirtual |
compute forward dynamics and update current state
cnoid::WorldBaseを再実装しています。
template<class TConstraintForceSolver>
|
inlinevirtual |
initialize this world. This must be called after all bodies are registered.
cnoid::WorldBaseを再実装しています。
メンバ詳解
template<class TConstraintForceSolver>
| TConstraintForceSolver cnoid::World< TConstraintForceSolver >::constraintForceSolver |
このクラス詳解は次のファイルから抽出されました:
