iCub-main
Classes | Public Member Functions | Static Public Member Functions | Public Attributes | List of all members
OdeInit Class Reference

ODE state information. More...

#include <OdeInit.h>

Classes

struct  contactOnSkin_t
 

Public Member Functions

void setName (string module)
 
string getName ()
 
 ~OdeInit ()
 
void setSimulationControl (iCubSimulationControl *control, int part)
 
void removeSimulationControl (int part)
 
void setSimulationIMU (iCubSimulationIMU *imu)
 
void removeSimulationIMU ()
 
void sendHomePos ()
 

Static Public Member Functions

static OdeInitinit (RobotConfig *config)
 
static OdeInitget ()
 
static void destroy ()
 
static void printGeomClassAndNr (int geom_class, int geom_nr)
 
static void printInfoOnSpace (dSpaceID my_space, const std::string &my_space_name)
 

Public Attributes

double SimTime
 
dWorldID world
 
dSpaceID space
 
dJointGroupID contactgroup
 
dGeomID ground
 
std::mutex mtx
 
std::mutex mtxTexture
 
ICubSim_iCub
 
worldSim_wrld
 
bool stop
 
bool sync
 
int verbosity
 
string name
 
iCubSimulationControl ** _controls
 
iCubSimulationIMU_imu {nullptr}
 
double contactFrictionCoefficient
 
list< contactOnSkin_tlistOfSkinContactInfos
 

Detailed Description

ODE state information.

Definition at line 55 of file OdeInit.h.

Constructor & Destructor Documentation

◆ ~OdeInit()

OdeInit::~OdeInit ( )

Definition at line 105 of file OdeInit.cpp.

Member Function Documentation

◆ destroy()

void OdeInit::destroy ( )
static

Definition at line 194 of file OdeInit.cpp.

◆ get()

OdeInit & OdeInit::get ( )
static

Definition at line 189 of file OdeInit.cpp.

◆ getName()

string OdeInit::getName ( )
inline

Definition at line 92 of file OdeInit.h.

◆ init()

OdeInit & OdeInit::init ( RobotConfig config)
static

Definition at line 117 of file OdeInit.cpp.

◆ printGeomClassAndNr()

void OdeInit::printGeomClassAndNr ( int  geom_class,
int  geom_nr 
)
static

Definition at line 204 of file OdeInit.cpp.

◆ printInfoOnSpace()

void OdeInit::printInfoOnSpace ( dSpaceID  my_space,
const std::string &  my_space_name 
)
static

Definition at line 240 of file OdeInit.cpp.

◆ removeSimulationControl()

void OdeInit::removeSimulationControl ( int  part)

Definition at line 182 of file OdeInit.cpp.

◆ removeSimulationIMU()

void OdeInit::removeSimulationIMU ( )

Definition at line 140 of file OdeInit.cpp.

◆ sendHomePos()

void OdeInit::sendHomePos ( )

Definition at line 144 of file OdeInit.cpp.

◆ setName()

void OdeInit::setName ( string  module)
inline

Definition at line 89 of file OdeInit.h.

◆ setSimulationControl()

void OdeInit::setSimulationControl ( iCubSimulationControl control,
int  part 
)

Definition at line 125 of file OdeInit.cpp.

◆ setSimulationIMU()

void OdeInit::setSimulationIMU ( iCubSimulationIMU imu)

Definition at line 133 of file OdeInit.cpp.

Member Data Documentation

◆ _controls

iCubSimulationControl** OdeInit::_controls

Definition at line 74 of file OdeInit.h.

◆ _iCub

ICubSim* OdeInit::_iCub

Definition at line 67 of file OdeInit.h.

◆ _imu

iCubSimulationIMU* OdeInit::_imu {nullptr}

Definition at line 75 of file OdeInit.h.

◆ _wrld

worldSim* OdeInit::_wrld

Definition at line 68 of file OdeInit.h.

◆ contactFrictionCoefficient

double OdeInit::contactFrictionCoefficient

Definition at line 76 of file OdeInit.h.

◆ contactgroup

dJointGroupID OdeInit::contactgroup

Definition at line 60 of file OdeInit.h.

◆ ground

dGeomID OdeInit::ground

Definition at line 61 of file OdeInit.h.

◆ listOfSkinContactInfos

list<contactOnSkin_t> OdeInit::listOfSkinContactInfos

Definition at line 86 of file OdeInit.h.

◆ mtx

std::mutex OdeInit::mtx

Definition at line 65 of file OdeInit.h.

◆ mtxTexture

std::mutex OdeInit::mtxTexture

Definition at line 66 of file OdeInit.h.

◆ name

string OdeInit::name

Definition at line 73 of file OdeInit.h.

◆ SimTime

double OdeInit::SimTime

Definition at line 57 of file OdeInit.h.

◆ space

dSpaceID OdeInit::space

Definition at line 59 of file OdeInit.h.

◆ stop

bool OdeInit::stop

Definition at line 69 of file OdeInit.h.

◆ sync

bool OdeInit::sync

Definition at line 70 of file OdeInit.h.

◆ verbosity

int OdeInit::verbosity

Definition at line 72 of file OdeInit.h.

◆ world

dWorldID OdeInit::world

Definition at line 58 of file OdeInit.h.


The documentation for this class was generated from the following files: