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

ODE state information. More...

#include <OdeInit.h>


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
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 ( )

Definition at line 194 of file OdeInit.cpp.

◆ get()

OdeInit & OdeInit::get ( )

Definition at line 189 of file OdeInit.cpp.

◆ getName()

string OdeInit::getName ( )

Definition at line 92 of file OdeInit.h.

◆ init()

OdeInit & OdeInit::init ( RobotConfig config)

Definition at line 117 of file OdeInit.cpp.

◆ printGeomClassAndNr()

void OdeInit::printGeomClassAndNr ( int  geom_class,
int  geom_nr 

Definition at line 204 of file OdeInit.cpp.

◆ printInfoOnSpace()

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

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)

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: