Choreonoid
1.1
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#include <ForwardDynamicsCBM.h>
構成 | |
struct | ForceSensorInfo |
Public メソッド | |
ForwardDynamicsMM (BodyPtr body) | |
~ForwardDynamicsMM () | |
virtual void | initialize () |
virtual void | calcNextState () |
void | initializeAccelSolver () |
void | solveUnknownAccels (const Vector3 &fext, const Vector3 &tauext) |
void | solveUnknownAccels (Link *link, const Vector3 &fext, const Vector3 &tauext, const Vector3 &rootfext, const Vector3 &roottauext) |
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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) |
Additional Inherited Members | |
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enum | { EULER_METHOD, RUNGEKUTTA_METHOD } |
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virtual void | initializeSensors () |
virtual void | updateSensorsFinal () |
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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 | |
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BodyPtr | body |
Vector3 | g |
double | timeStep |
bool | sensorsEnabled |
enum cnoid::ForwardDynamics:: { ... } | integrationMode |
The ForwardDynamicsMM class calculates the forward dynamics using the motion equation based on the generalized mass matrix. The class is mainly used for a body that has high-gain mode joints. If all the joints of a body are the torque mode, the ForwardDynamicsABM, which uses the articulated body method, is more efficient.
ForwardDynamicsMM::ForwardDynamicsMM | ( | BodyPtr | body | ) |
ForwardDynamicsMM::~ForwardDynamicsMM | ( | ) |
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virtual |
cnoid::ForwardDynamicsを実装しています。
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virtual |
cnoid::ForwardDynamicsを実装しています。
void ForwardDynamicsMM::initializeAccelSolver | ( | ) |
void ForwardDynamicsMM::solveUnknownAccels | ( | Link * | link, |
const Vector3 & | fext, | ||
const Vector3 & | tauext, | ||
const Vector3 & | rootfext, | ||
const Vector3 & | roottauext | ||
) |