iCub-main
WorldManager.cpp
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1 // -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
2 
3 /*
4 * Copyright (C) 2010 RobotCub Consortium, European Commission FP6 Project IST-004370
5 * Author: Vadim Tikhanoff, Paul Fitzpatrick
6 * email: vadim.tikhanoff@iit.it, paulfitz@alum.mit.edu
7 * website: www.robotcub.org
8 * Permission is granted to copy, distribute, and/or modify this program
9 * under the terms of the GNU General Public License, version 2 or any
10 * later version published by the Free Software Foundation.
11 *
12 * A copy of the license can be found at
13 * http://www.robotcub.org/icub/license/gpl.txt
14 *
15 * This program is distributed in the hope that it will be useful, but
16 * WITHOUT ANY WARRANTY; without even the implied warranty of
17 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
18 * Public License for more details
19 */
20 
21 #include "OdeWorldManager.h"
22 
23 #include "OdeInit.h"
24 #include "iCub_Sim.h"
25 
26 #ifndef DENSITY
27 #define DENSITY (1.0) // density of all objects
28 #endif
29 
30 using namespace yarp::os;
31 
33  OdeInit& odeinit = OdeInit::get();
34  for (int x =0; x < a; x++)
35  dTriMeshXDestroy(odeinit._wrld->trimesh[x]);
36 }
37 
iCub_Sim.h
This class controls the simulation speed using dWorldstep for "exact" calculations,...
OdeInit.h
This file is responsible for the initialisation of the world parameters that are controlled by ODE....
OdeInit::get
static OdeInit & get()
Definition: OdeInit.cpp:189
x
x
Definition: compute_ekf_sym.m:21
dTriMeshXDestroy
void dTriMeshXDestroy(dTriMeshX TriMesh)
Definition: xloader.cpp:205
OdeWorldManager.h
OdeWorldManager::clear
virtual void clear()
Definition: WorldManager.cpp:32
OdeInit::_wrld
worldSim * _wrld
Definition: OdeInit.h:68
worldSim::trimesh
dTriMeshX trimesh[100]
Definition: world.h:191
OdeInit
ODE state information.
Definition: OdeInit.h:55