RobWorkProject  24.6.21-
Classes | Typedefs
rwsim::simulator Namespace Reference

Dynamic simulation. More...

Classes

class  BodyController
 The body controller is a pure interface through which bodies are controlled. More...
 
class  BodyIntegrator
 abstract class for describing how the motion of a body behaves during a timestep More...
 
class  CNodePairMap
 This implementation creates an efficient mapping between CNodePair and some user defined type. Lookup and insertion is O(1). More...
 
class  CNodePool
 interface for creating and deleting constraintEdges and ConstraintNodes. More...
 
class  ConstantForceManipulator
 class for adding a constant force to any body it controls More...
 
class  ConstraintEdge
 
class  ConstraintFactory
 The ContactModelFactory functions as a mediator to the functionallity that is required by the contact graph. More...
 
struct  FilteredPoint
 
class  ConstraintNode
 The ConstraintNode describes a specific object that can be constrained in some way. It is an interface that enables inheriting classes to be used by the ConstraintGraph class. The specific constraints between ConstraintNode's are described by the ConstraintEdge. More...
 
struct  CNodePair
 
struct  SolverInfo
 parameters for the constraint solver More...
 
class  ConstraintSolver
 Abstraction over a constraint solver for dynamics simulations. More...
 
class  Contact
 
class  ContactGraph
 creates a graph where nodes can be physical, logical and compound entities and the edges between nodes are constraints of some sort. More...
 
class  ContactModel
 The ContactModel describe how impulses between two bodies are calculated and added to the bodies. The contact model is supposed to be used for iterative solving impulses between two bodies. More...
 
class  ContactModelFactory
 The ContactModelFactory functions as a mediator to the functionallity that is required by the contact graph. More...
 
class  EulerIntegrator
 body motion integrator that use an implicit Euler formulation to calculate the motion of a body More...
 
class  GuendelContactModel
 
class  RK4Integrator
 
class  RWBody
 
class  RWBodyPool
 interface for creating and deleting constraintEdges and ConstraintNodes. ConstraintEdges are frequently created and deleted so efficient data structures are here needed. More...
 
class  RWDebugRender
 
class  RWSimulator
 
class  SequintialImpulseSolver
 a constraint solver that use the sequential impulse algorithm for solving constraints. this algorithm is supposed to be equal to the Projected Gauss Seidel (PGS) algorithm. More...
 
class  AssemblySimulator
 A simulator for execution of AssemblyTasks. More...
 
class  DynamicSimulator
 A general physics engine interface for simulating dynamics of objects and robot devices. More...
 
class  GraspTaskSimulator
 A class for simulating multiple grasping tasks. More...
 
class  PhysicsEngine
 A general physics engine interface for simulating dynamics of objects and robot devices. More...
 
class  ThreadSimulator
 Wraps a simulator in a thread safe interface, and creates a separate thread for the simulator to run in. More...
 
class  ODEBody
 a convienience class for bridging RWSim body states with ode body states. Properties of the objects such as MaterialID, collision reduction threshold is kept per instance. More...
 
class  ODEConstraint
 Allows constraining the motion between two bodies in ODE simulation. More...
 
class  ODEContactStrategy
 Detection of contacts using the internal ODE collision detector. More...
 
class  ODEDebugRender
 
class  ODEDevice
 interface for classes (ODEDevices) that control a set of ode bodies that map to a RWSim dynamic device type. More...
 
class  ODEJoint
 this class bridges ODE's joints with RobWork joints. The joint is a pure constraint type and hence does not have any geometry. It does however constraint two geometrical bodies together. More...
 
class  ODEKinematicDevice
 A bridge between the RW KinematicDevice and kinematicly controlled ODE dBodies. More...
 
class  ODELogUtil
 Utility to write to SimulatorLog. More...
 
class  ODEMaterialMap
 The ODE material map is responsible for the modelling of contact dynamics, such as friction and restitution phenomena. More...
 
class  ODEPlugin
 A ODE plugin that define extensions for rwsim.simulator.PhysicsEngine. More...
 
class  ODESimulator
 an implementation that use the physics engine ODE to implement the Simulator interface of RWSim. All information into the simulator is derived through RWSim classes. More...
 
class  ODESuctionCupDevice
 interface for classes (ODEDevices) that control a set of ode bodies that map to a RWSim dynamic device type. More...
 
class  ODETactileSensor
 
class  ODEThreading
 Utility functions related to the use of Open Dynamics Engine from multiple threads. More...
 
class  ODEUtil
 
class  ODEVelocityDevice
 A bridge between the RW RigidDevice and a set of connected joints and rigid bodies. More...
 

Typedefs

typedef std::vector< ConstraintEdge * > CEdgeGroup
 a group of constraint edges
 
typedef std::vector< rwsim::dynamics::ContactPointContactPointList
 
typedef std::vector< RWBody * > RWBodyList
 
typedef PhysicsEngine::Factory PhysicsEngineFactory
 Factory for creating physics engines.
 

Detailed Description

Dynamic simulation.