![]() |
RobWorkProject
24.12.4-
|
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::ContactPoint > | ContactPointList |
typedef std::vector< RWBody * > | RWBodyList |
typedef PhysicsEngine::Factory | PhysicsEngineFactory |
Factory for creating physics engines. | |
Dynamic simulation.