|
| DynamicsSimulator_impl (const cnoid::BodyPtr &body) |
|
virtual | ~DynamicsSimulator_impl () |
|
virtual void | destroy () |
|
virtual void | init (::CORBA::Double timeStep, OpenHRP::DynamicsSimulator::IntegrateMethod integrateOpt, OpenHRP::DynamicsSimulator::SensorOption sensorOpt) |
|
virtual void | registerVirtualLink (const char *char1, const char *link1, const char *char2, const char *link2, const LinkPosition &relTransform, ::CORBA::Short transformDefined, const DblSequence9 &constraint, const char *connectionName) |
|
virtual void | getConnectionConstraintForce (const char *characterName, const char *connectionName, DblSequence6_out contactForce) |
|
virtual void | getCharacterSensorValues (const char *characterName, const char *sensorName, DblSequence_out values) |
|
virtual void | initSimulation () |
|
virtual void | stepSimulation () |
|
virtual void | setCharacterLinkData (const char *character, const char *link, OpenHRP::DynamicsSimulator::LinkDataType type, const DblSequence &data) |
|
virtual void | getCharacterLinkData (const char *characterName, const char *link, OpenHRP::DynamicsSimulator::LinkDataType type, DblSequence_out rdata) |
|
virtual void | getCharacterAllLinkData (const char *characterName, OpenHRP::DynamicsSimulator::LinkDataType type, DblSequence_out wdata) |
|
virtual void | setCharacterAllLinkData (const char *characterName, OpenHRP::DynamicsSimulator::LinkDataType type, const DblSequence &wdata) |
|
virtual void | setGVector (const DblSequence3 &wdata) |
|
virtual void | getGVector (DblSequence3_out wdata) |
|
virtual void | setCharacterAllJointModes (const char *characterName, OpenHRP::DynamicsSimulator::JointDriveMode jointMode) |
|
virtual ::CORBA::Boolean | calcCharacterInverseKinematics (const char *characterName, const char *baseLink, const char *targetLink, const LinkPosition &target) |
|
virtual void | calcCharacterForwardKinematics (const char *characterName) |
|
virtual void | calcWorldForwardKinematics () |
|
virtual void | getWorldState (WorldState_out wstate) |
|
virtual void | getCharacterSensorState (const char *characterName, SensorState_out sstate) |
|
virtual ::CORBA::Boolean | getCharacterCollidingPairs (const char *characterName, LinkPairSequence_out pairs) |
|
virtual void | calcCharacterJacobian (const char *characterName, const char *baseLink, const char *targetLink, DblSequence_out jacobian) |
|