Choreonoid  1.1
ConstraintForceSolver.h
[詳解]
1 
5 #ifndef CNOID_BODY_CONSTRAINT_FORCE_SOLVER_H_INCLUDED
6 #define CNOID_BODY_CONSTRAINT_FORCE_SOLVER_H_INCLUDED
7 
8 #include "exportdecl.h"
9 
10 namespace cnoid
11 {
12  class Link;
13  class CFSImpl;
14  class WorldBase;
15 
17  {
18  CFSImpl* impl;
19 
20  public:
23 
24  bool addCollisionCheckLinkPair
25  (int bodyIndex1, Link* link1, int bodyIndex2, Link* link2, double muStatic, double muDynamic, double culling_thresh, double epsilon);
26  void clearCollisionCheckLinkPairs();
27 
28  void setGaussSeidelParameters(int maxNumIteration, int numInitialIteration, double maxRelError);
29  bool enableJointRangeStopper(bool isEnabled);
30  bool enableVelocityOverwriting(bool isEnabled);
31  void enableConstraintForceOutput(bool on);
32  void setNegativeVelocityRatioForPenetration(double ratio);
33 
34  void initialize(void);
35  void solve();
36  void clearExternalForces();
37  };
38 };
39 
40 
41 #endif
Definition: ConstraintForceSolver.h:16
Definition: EasyScanner.h:16
Definition: World.h:18
#define CNOID_EXPORT
Definition: Util/exportdecl.h:13
bool initialize()