#include <dynamic-integrator.h>
Public Member Functions | |
DynamicIntegrator (const std::string &name) | |
virtual void | display (std::ostream &os) const |
virtual void | commandLine (const std::string &cmdLine, std::istringstream &cmdArgs, std::ostream &os) |
DECLARE_SIGNAL_IN (acceleration, dg::Vector) | |
DECLARE_SIGNAL_IN (dt, double) | |
DECLARE_SIGNAL_OUT (velocity, dg::Vector) | |
DECLARE_SIGNAL_OUT (position, dg::Vector) | |
void | integrate (const dg::Vector &acceleration, const double &dt, dg::Vector &velocity, dg::Vector &position) |
void | integrateFromSignals (const int &time) |
void | integrateFromSignals (void) |
void | setPosition (const dg::Vector &p) |
void | setVelocity (const dg::Vector &v) |
void | setState (const dg::Vector &p, const dg::Vector &v) |
DynamicIntegrator (const std::string &name) | |
virtual void | display (std::ostream &os) const |
virtual void | commandLine (const std::string &cmdLine, std::istringstream &cmdArgs, std::ostream &os) |
DECLARE_SIGNAL_IN (acceleration, dg::Vector) | |
DECLARE_SIGNAL_IN (dt, double) | |
DECLARE_SIGNAL_OUT (velocity, dg::Vector) | |
DECLARE_SIGNAL_OUT (position, dg::Vector) | |
void | integrate (const dg::Vector &acceleration, const double &dt, dg::Vector &velocity, dg::Vector &position) |
void | integrateFromSignals (const int &time) |
void | integrateFromSignals (void) |
void | setPosition (const dg::Vector &p) |
void | setVelocity (const dg::Vector &v) |
void | setState (const dg::Vector &p, const dg::Vector &v) |
Protected Attributes | |
dg::Vector | position |
dg::Vector | velocity |
dynamicgraph::sot::dyninv::DynamicIntegrator::DynamicIntegrator | ( | const std::string & | name | ) |
dynamicgraph::sot::dyninv::DynamicIntegrator::DynamicIntegrator | ( | const std::string & | name | ) |
void dynamicgraph::sot::dyninv::DynamicIntegrator::commandLine | ( | const std::string & | cmdLine, |
std::istringstream & | cmdArgs, | ||
std::ostream & | os | ||
) | [virtual] |
Reimplemented from dynamicgraph::Entity.
Reimplemented in dynamicgraph::sot::dyninv::PseudoRobotDynamic, and dynamicgraph::sot::dyninv::PseudoRobotDynamic.
References dynamicgraph::Entity::commandLine().
virtual void dynamicgraph::sot::dyninv::DynamicIntegrator::commandLine | ( | const std::string & | cmdLine, |
std::istringstream & | cmdArgs, | ||
std::ostream & | os | ||
) | [virtual] |
Reimplemented from dynamicgraph::Entity.
Reimplemented in dynamicgraph::sot::dyninv::PseudoRobotDynamic, and dynamicgraph::sot::dyninv::PseudoRobotDynamic.
dynamicgraph::sot::dyninv::DynamicIntegrator::DECLARE_SIGNAL_IN | ( | acceleration | , |
dg::Vector | |||
) |
dynamicgraph::sot::dyninv::DynamicIntegrator::DECLARE_SIGNAL_IN | ( | acceleration | , |
dg::Vector | |||
) |
dynamicgraph::sot::dyninv::DynamicIntegrator::DECLARE_SIGNAL_IN | ( | dt | , |
double | |||
) |
dynamicgraph::sot::dyninv::DynamicIntegrator::DECLARE_SIGNAL_IN | ( | dt | , |
double | |||
) |
dynamicgraph::sot::dyninv::DynamicIntegrator::DECLARE_SIGNAL_OUT | ( | velocity | , |
dg::Vector | |||
) |
dynamicgraph::sot::dyninv::DynamicIntegrator::DECLARE_SIGNAL_OUT | ( | velocity | , |
dg::Vector | |||
) |
dynamicgraph::sot::dyninv::DynamicIntegrator::DECLARE_SIGNAL_OUT | ( | position | , |
dg::Vector | |||
) |
dynamicgraph::sot::dyninv::DynamicIntegrator::DECLARE_SIGNAL_OUT | ( | position | , |
dg::Vector | |||
) |
void dynamicgraph::sot::dyninv::DynamicIntegrator::display | ( | std::ostream & | os | ) | const [virtual] |
Reimplemented from dynamicgraph::Entity.
Reimplemented in dynamicgraph::sot::dyninv::PseudoRobotDynamic, and dynamicgraph::sot::dyninv::PseudoRobotDynamic.
virtual void dynamicgraph::sot::dyninv::DynamicIntegrator::display | ( | std::ostream & | os | ) | const [virtual] |
Reimplemented from dynamicgraph::Entity.
Reimplemented in dynamicgraph::sot::dyninv::PseudoRobotDynamic, and dynamicgraph::sot::dyninv::PseudoRobotDynamic.
void dynamicgraph::sot::dyninv::DynamicIntegrator::integrate | ( | const dg::Vector & | acceleration, |
const double & | dt, | ||
dg::Vector & | velocity, | ||
dg::Vector & | position | ||
) |
void dynamicgraph::sot::dyninv::DynamicIntegrator::integrate | ( | const dg::Vector & | acceleration, |
const double & | dt, | ||
dg::Vector & | velocity, | ||
dg::Vector & | position | ||
) |
References dynamicgraph::sot::dyninv::DynamicIntegratorStatic::amelif2djj(), dynamicgraph::sot::dyninv::DynamicIntegratorStatic::computeRotationMatrixFromEuler(), dynamicgraph::sot::dyninv::DynamicIntegratorStatic::djj2amelif(), dynamicgraph::sot::dyninv::DynamicIntegratorStatic::skew(), sotDEBUG, sotDEBUGIN, and sotDEBUGOUT.
Referenced by integrateFromSignals().
void dynamicgraph::sot::dyninv::DynamicIntegrator::integrateFromSignals | ( | const int & | time | ) |
References integrate(), position, and velocity.
void dynamicgraph::sot::dyninv::DynamicIntegrator::integrateFromSignals | ( | const int & | time | ) |
void dynamicgraph::sot::dyninv::DynamicIntegrator::integrateFromSignals | ( | void | ) |
void dynamicgraph::sot::dyninv::DynamicIntegrator::integrateFromSignals | ( | void | ) |
Referenced by DynamicIntegrator().
void dynamicgraph::sot::dyninv::DynamicIntegrator::setPosition | ( | const dg::Vector & | p | ) |
References position.
void dynamicgraph::sot::dyninv::DynamicIntegrator::setPosition | ( | const dg::Vector & | p | ) |
void dynamicgraph::sot::dyninv::DynamicIntegrator::setState | ( | const dg::Vector & | p, |
const dg::Vector & | v | ||
) |
void dynamicgraph::sot::dyninv::DynamicIntegrator::setState | ( | const dg::Vector & | p, |
const dg::Vector & | v | ||
) |
References position, sotDEBUG, and velocity.
Referenced by dynamicgraph::sot::dyninv::PseudoRobotDynamic::replaceSimulatorEntity().
void dynamicgraph::sot::dyninv::DynamicIntegrator::setVelocity | ( | const dg::Vector & | v | ) |
References velocity.
void dynamicgraph::sot::dyninv::DynamicIntegrator::setVelocity | ( | const dg::Vector & | v | ) |
Referenced by DynamicIntegrator(), integrateFromSignals(), setState(), and setVelocity().