Choreonoid  1.1
Public メソッド | Protected 型 | Protected メソッド | Static Protected メソッド | Protected 変数 | すべてのメンバ一覧
クラス cnoid::ForwardDynamics

#include <ForwardDynamics.h>

cnoid::ForwardDynamicsに対する継承グラフ
cnoid::ForwardDynamicsABM cnoid::ForwardDynamicsMM

Public メソッド

EIGEN_MAKE_ALIGNED_OPERATOR_NEW ForwardDynamics (BodyPtr body)
virtual ~ForwardDynamics ()
void setGravityAcceleration (const Vector3 &g)
void setEulerMethod ()
void setRungeKuttaMethod ()
void setTimeStep (double timeStep)
void enableSensors (bool on)
virtual void initialize ()=0
virtual void calcNextState ()=0

Protected 型

enum  { EULER_METHOD, RUNGEKUTTA_METHOD }

Protected メソッド

virtual void initializeSensors ()
virtual void updateSensorsFinal ()

Static Protected メソッド

static void SE3exp (Vector3 &out_p, Matrix3 &out_R, const Vector3 &p0, const Matrix3 &R0, const Vector3 &w, const Vector3 &vo, double dt)
 update position/orientation using spatial velocity

Protected 変数

BodyPtr body
Vector3 g
double timeStep
bool sensorsEnabled
enum cnoid::ForwardDynamics:: { ... }  integrationMode

説明

This class calculates the forward dynamics of a Body object by using the Featherstone's articulated body algorithm. The class also integrates motion using the Euler method or RungeKutta method.

列挙型

anonymous enum
protected
列挙型の値:
EULER_METHOD 
RUNGEKUTTA_METHOD 

コンストラクタとデストラクタ

ForwardDynamics::ForwardDynamics ( BodyPtr  body)
ForwardDynamics::~ForwardDynamics ( )
virtual

関数

virtual void cnoid::ForwardDynamics::calcNextState ( )
pure virtual

cnoid::ForwardDynamicsMM, と cnoid::ForwardDynamicsABMで実装されています。

void ForwardDynamics::enableSensors ( bool  on)
virtual void cnoid::ForwardDynamics::initialize ( )
pure virtual

cnoid::ForwardDynamicsMM, と cnoid::ForwardDynamicsABMで実装されています。

void ForwardDynamics::initializeSensors ( )
protectedvirtual
void ForwardDynamics::SE3exp ( Vector3 out_p,
Matrix3 out_R,
const Vector3 p0,
const Matrix3 R0,
const Vector3 w,
const Vector3 vo,
double  dt 
)
staticprotected

update position/orientation using spatial velocity

function from Murray, Li and Sastry p.42

引数
out_pp(t+dt)
out_RR(t+dt)
p0p(t)
R0R(t)
wangular velocity
v0spatial velocity
dttime step[s]
void ForwardDynamics::setEulerMethod ( )
void ForwardDynamics::setGravityAcceleration ( const Vector3 g)
void ForwardDynamics::setRungeKuttaMethod ( )
void ForwardDynamics::setTimeStep ( double  timeStep)
void ForwardDynamics::updateSensorsFinal ( )
protectedvirtual

変数

BodyPtr cnoid::ForwardDynamics::body
protected
Vector3 cnoid::ForwardDynamics::g
protected
enum { ... } cnoid::ForwardDynamics::integrationMode
bool cnoid::ForwardDynamics::sensorsEnabled
protected
double cnoid::ForwardDynamics::timeStep
protected

このクラスの説明は次のファイルから生成されました: