Simulation

Classes
class	Klampt::ControlledRobotSimulator
	A class containing information about an ODE-simulated and controlled robot. More...
class	Klampt::ODEGeometry
	An ODE collision geometry. More...
class	Klampt::ODERigidObject
	An ODE-simulated rigid object. More...
class	Klampt::ODERobot
	A robot simulated in an ODE "world". More...
struct	Klampt::ODESimulatorSettings
	Global simulator settings. More...
class	Klampt::ODESimulator
	An interface to the ODE simulator. More...
struct	Klampt::ODEObjectID
	An index that identifies some ODE object in the world. Environments, robots, robot bodies, or rigid objects are supported. More...
struct	Klampt::ODEContactList
	A list of contacts between two objects, returned as feedback from the simulation. More...
struct	Klampt::ODEJoint
	A joint between two objects. More...
struct	Klampt::ODESurfaceProperties
	surface properties for any ODE rigid object, robot link, or fixed object. More...
class	Klampt::SimRobotController
	A class containing information about an ODE-simulated and controlled robot. More...
struct	Klampt::ContactFeedbackInfo
	Container for information about contacts regarding a certain object. Can be set to accumulate a summary over sub-steps or detailed data per-step. More...
class	Klampt::SimulatorHook
	Any function that should be run per sub-step of the simulation needs to be a SimulatorHook subclass and added to the Simulator.hooks member. More...
class	Klampt::Simulator
	A physical simulator for a WorldModel. More...
class	Klampt::ForceHook
	A hook that adds a constant force to a body. More...
class	Klampt::LocalForceHook
	A hook that adds a constant force in world coordinates to a point on a body given in local coordinates. More...
class	Klampt::WrenchHook
	A hook that adds a constant wrench (force f and moment m) to the body. More...
class	Klampt::SpringHook
	A hook that acts as a Hookean (optionally damped) spring to a given fixed target point. More...
class	Klampt::JointForceHook
	A hook that adds a constant force to a joint. More...
class	Klampt::JointSpringHook
	A hook that adds a Hookean (optionally damped) virtual spring to a joint. More...
class	Klampt::WorldSimulationHook
	Any function that should be run per sub-step of the simulation needs to be a WorldSimulationHook subclass and added to the WorldSimulation.hooks member. More...
class	Klampt::WorldSimulation
	A physical simulator for a WorldModel. More...

Detailed Description

Klampt's rigid body physics simulation engine.