iCub-main
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#include "iCub_Sim.h"
#include "OdeInit.h"
#include <yarp/os/LogStream.h>
#include <mutex>
#include <cstdlib>
#include <csignal>
#include <set>
Go to the source code of this file.
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struct | contactICubSkinEmul_t |
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#define | MAX_DJOINT_FEEDBACKSTRUCTS 500 |
Variables | |
static long | gl_frame_length = 1000/30 |
static long | ode_step_length = 10 |
static double | dstep = 10.0/1000.0 |
static bool | glrun |
static bool | simrun |
static int | stop = 0 |
static int | v = 0 |
static float | xyz [3] |
static float | hpr [8] |
static float | rez [3] |
static int | contactPoint |
static int | mouseDiffx |
static int | mouseDiffy |
static bool | picking = false |
static float | cam_rx = 0.0 |
static float | cam_ry = 0.0 |
static int | width = 640 |
static int | height = 480 |
static int | mouse0_down_x |
static int | mouse1_down_x |
static int | mouse0_down_y |
static int | mouse1_down_y |
static int | mouse_ray_x |
static int | mouse_ray_y |
static float * | VAD |
static float * | VAD2 |
const dReal * | pos |
static float | angle_xref = 0.0f |
static float | angle_yref = 25.0f |
static float | ydistance = 10.0f |
static float | xdistance = 0.0f |
static float | view_xyz [3] |
static float | view_hpr [3] |
static float | view2_xyz [3] |
static float | view2_hpr [3] |
static float | zoom = 0 |
static float | xpos = 0 |
static float | ypos = 0 |
static float | zpos = 0 |
static float | xrot = 0 |
static float | yrot = 0 |
static float | zrot = 0 |
static float | angle =0.0 |
static float | lastx |
static float | lasty |
static float | xrotrad = 0 |
static float | yrotrad = 0 |
static long | startTime |
static long | finishTime |
static double | duration |
static double | frames |
static double | FPS |
static double | seconds |
static double | TimestepManager |
static float | test [3] |
static Uint32 | colorkey |
static SDL_Surface * | image |
static bool | extractImages = false |
static VideoTexture * | video = NULL |
static RobotStreamer * | robot_streamer = NULL |
static RobotConfig * | robot_config = NULL |
static bool | eyeCams |
static const GLfloat | light_position [] = { 0.0f, 5.0f, 5.0f, 0.0f } |
static int | width_left |
static int | width_right |
static int | height_left |
static int | height_right |
static double | fov_left |
static double | fov_right |
static int | cameraSizeWidth |
static int | cameraSizeHeight |
static std::map< SkinPart, contactICubSkinEmul_t > | contactICubSkinEmulMap |
static dJointFeedback | touchSensorFeedbacks [MAX_DJOINT_FEEDBACKSTRUCTS] |
static int | nFeedbackStructs =0 |
static bool | START_SELF_COLLISION_DETECTION = false |
static const double | EXTRA_MARGIN_FOR_TAXEL_POSITION_M = 0.03 |
static const double | MORE_EXTRA_MARGIN_FOR_TAXEL_POSITION_M = 0.01 |
#define MAX_DJOINT_FEEDBACKSTRUCTS 500 |
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const dReal* pos |
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