BodyUtil Class Reference

Utility functions related to dynamic bodies. More...

#include <BodyUtil.hpp>

Static Public Member Functions
static rw::math::Transform3D	placeBody (rwsim::dynamics::Body::Ptr body, rw::core::Ptr< rw::proximity::CollisionDetector > coldect, const rw::kinematics::State &state, const rw::math::Vector3D<> &dir=-rw::math::Vector3D<>::z())
	a utility function for calculating the transformation of a body if it is kinematically projected in the direction of dir. Where dir is described in world coordinates. More...
static Body::Ptr	getParentBody (Body::Ptr child, rw::core::Ptr< DynamicWorkCell > dwc, const rw::kinematics::State &state)
	Find the parent body of a body. More...
static Body::Ptr	getParentBody (rw::core::Ptr< rw::kinematics::Frame > child, rw::core::Ptr< DynamicWorkCell > dwc, const rw::kinematics::State &state)
	Find the parent body of a frame. More...

Detailed Description

Utility functions related to dynamic bodies.

Member Function Documentation

getParentBody() [1/2]

static Body::Ptr getParentBody ( Body::Ptr  child, rw::core::Ptr< DynamicWorkCell >  dwc, const rw::kinematics::State &  state  )

static

Find the parent body of a body.

Parameters

child	[in] the child body.
dwc	[in] the dynamic workcell.
state	[in] the current state.

Returns

the parent body, or NULL if not found.

getParentBody() [2/2]

static Body::Ptr getParentBody ( rw::core::Ptr< rw::kinematics::Frame >  child, rw::core::Ptr< DynamicWorkCell >  dwc, const rw::kinematics::State &  state  )

static

Find the parent body of a frame.

Parameters

child	[in] the child frame.
dwc	[in] the dynamic workcell.
state	[in] the current state.

Returns

the parent body, or NULL if not found.

placeBody()

static rw::math::Transform3D placeBody ( rwsim::dynamics::Body::Ptr  body, rw::core::Ptr< rw::proximity::CollisionDetector >  coldect, const rw::kinematics::State &  state, const rw::math::Vector3D<> &  dir = -rw::math::Vector3D<>::z()  )

static

a utility function for calculating the transformation of a body if it is kinematically projected in the direction of dir. Where dir is described in world coordinates.

Parameters

body	[in] the body to project.
coldect	[in] collision detector to use for detection of contact.
state	[in] the initial state.
dir	[in] the direction to project.

Returns

the transform.

---

The documentation for this class was generated from the following file:

• BodyUtil.hpp