6 #ifndef CNOID_BODY_FORWARD_DYNAMICS_H 7 #define CNOID_BODY_FORWARD_DYNAMICS_H 11 #include <boost/shared_ptr.hpp> 32 void setGravityAcceleration(
const Vector3& g);
33 void setEulerMethod();
34 void setRungeKuttaMethod();
35 void setTimeStep(
double timeStep);
36 void enableSensors(
bool on);
37 void setOldAccelSensorCalcMode(
bool on);
39 virtual void initialize() = 0;
40 virtual void calcNextState() = 0;
44 virtual void initializeSensors();
64 enum { EULER_METHOD, RUNGEKUTTA_METHOD } integrationMode;
Vector3 g
Definition: ForwardDynamics.h:59
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
Definition: ForwardDynamics.h:27
double timeStep
Definition: ForwardDynamics.h:60
Definition: BasicSensorSimulationHelper.h:20
Eigen::Transform< double, 3, Eigen::AffineCompact > Position
Definition: EigenTypes.h:73
Defines the minimum processing for performing pasing file for STL.
Definition: AbstractSceneLoader.h:9
ref_ptr< DyBody > DyBodyPtr
Definition: DyBody.h:143
bool sensorsEnabled
Definition: ForwardDynamics.h:61
Eigen::Vector3d Vector3
Definition: EigenTypes.h:58
#define CNOID_EXPORT
Definition: Util/exportdecl.h:37
boost::shared_ptr< ForwardDynamics > ForwardDynamicsPtr
Definition: ForwardDynamics.h:67
DyBodyPtr body
Definition: ForwardDynamics.h:58
BasicSensorSimulationHelper sensorHelper
Definition: ForwardDynamics.h:62
Definition: ForwardDynamics.h:24