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::ContactPoint >	ContactPointList
typedef std::vector< RWBody * >	RWBodyList
typedef PhysicsEngine::Factory	PhysicsEngineFactory
	Factory for creating physics engines.

Detailed Description

Dynamic simulation.