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RobWorkProject
23.9.11-
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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... | |
Utility functions related to dynamic bodies.
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static |
Find the parent body of a body.
child | [in] the child body. |
dwc | [in] the dynamic workcell. |
state | [in] the current state. |
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static |
Find the parent body of a frame.
child | [in] the child frame. |
dwc | [in] the dynamic workcell. |
state | [in] the current state. |
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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.
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. |