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 OdeInit &	init (RobotConfig *config)
static OdeInit &	get ()
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_t >	listOfSkinContactInfos

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.

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

• icub-main/src/simulators/iCubSimulation/odesdl/OdeInit.h
• icub-main/src/simulators/iCubSimulation/odesdl/OdeInit.cpp