#include <World.h>

cnoid::WorldBase の継承関係図

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

構築子と解体子

WorldBase::WorldBase ( )

WorldBase::~WorldBase ( )

virtual

関数詳解

int WorldBase::addBody ( BodyPtr body )

add body to this world

引数

body

戻り値: index of the body

覚え書き: This must be called before initialize() is called.

BodyPtr WorldBase::body ( int index )

get body by index

引数

index of the body

戻り値: body

BodyPtr WorldBase::body ( const std::string & name )

get body by name

引数

name	of the body

戻り値: body

int WorldBase::bodyIndex ( const std::string & name )

get index of body by name

引数

name	of the body

戻り値: index of the body

void WorldBase::calcNextState ( )

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

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

inline

get current time

戻り値: current time[s]

void WorldBase::enableSensors ( bool on )

enable/disable sensor simulation

引数

on	true to enable, false to disable

覚え書き: This must be called before initialize() is called.

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

inline

get forward dynamics computation method for body

引数

index index of the body

戻り値: forward dynamics computation method

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

get index of link pairs

引数

link1	link1
link2	link2

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

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

inline

get gravity acceleration

戻り値: gravity accleration

void WorldBase::initialize ( void )

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。

int cnoid::WorldBase::numBodies ( )

inline

get the number of bodies in this world

戻り値: the number of bodies

void WorldBase::setCurrentTime ( double tm )

set current time

引数

tm	current time[s]

void WorldBase::setEulerMethod ( )

choose euler method for integration

void WorldBase::setGravityAcceleration ( const Vector3 & g )

set gravity acceleration

引数

g	gravity acceleration[m/s^2]

void WorldBase::setRungeKuttaMethod ( )

choose runge-kutta method for integration

void WorldBase::setTimeStep ( double dt )

set time step

引数

dt	time step[s]

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

inline

get time step

戻り値: time step[s]

メンバ詳解

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

protected

double cnoid::WorldBase::currentTime_

protected

bool cnoid::WorldBase::sensorsAreEnabled

protected

double cnoid::WorldBase::timeStep_

protected

このクラス詳解は次のファイルから抽出されました:

クラス

公開メンバ関数

限定公開変数類

構築子と解体子

関数詳解

メンバ詳解