Package org.robwork.sdurwsim

Class RigidBody

java.lang.Object

org.robwork.sdurwsim.Body

org.robwork.sdurwsim.RigidBody

public class RigidBody
extends Body

Constructor Summary

Constructors

Constructor	Description
RigidBody(long cPtr, boolean cMemoryOwn)

Method Summary

Modifier and Type	Method	Description
InertiaMatrixd	calcEffectiveMass(Vector3D wPc, State state)
InertiaMatrixd	calcEffectiveMassW(Vector3D wPc, State state)
InertiaMatrixd	calcInertiaTensor(State state)
InertiaMatrixd	calcInertiaTensorInv(State state)
void	delete()
Vector3D	getAngVel(State state)
Vector3D	getAngVelW(State state)
InertiaMatrixd	getBodyInertia()
InertiaMatrixd	getBodyInertiaInv()
static long	getCPtr(RigidBody obj)
Vector3D	getLinVel(State state)
Vector3D	getLinVelW(State state)	return the linear velocity described in world frame
double	getMass()
MovableFrame	getMovableFrame()
Frame	getParent(State state)
Vector3D	getPointVel(Vector3D p, State state)
Transform3D	getPTBody(State state)
Transform3D	getWTBody(State state)
Transform3D	getWTParent(State state)
void	setAngVel(Vector3D avel, State state)
void	setAngVelW(Vector3D avel, State state)
void	setLinVel(Vector3D lvel, State state)
void	setLinVelW(Vector3D lvel, State state)
void	setPTBody(Transform3D pTb, State state)

Methods inherited from class org.robwork.sdurwsim.Body

addForce, addForceToPos, addForceW, addForceWToPosW, addTorque, addTorqueW, calcEnergy, getBodyFrame, getCPtr, getForce, getForceW, getFrames, getInertia, getInfo, getMaterialID, getName, getParentFrame, getPointVelW, getTorque, getTorqueW, getTransformW, place, place, pTbf, pTcom, reset, setForce, setForceW, setMass, setMass, setMass, setTorque, setTorqueW, wTbf, wTcom

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

RigidBody

public RigidBody(long cPtr,
                 boolean cMemoryOwn)

Method Detail

getCPtr

public static long getCPtr(RigidBody obj)

delete

public void delete()

Overrides:

delete in class Body

getParent

public Frame getParent(State state)

getPTBody

public Transform3D getPTBody(State state)

setPTBody

public void setPTBody(Transform3D pTb,
                      State state)

getWTBody

public Transform3D getWTBody(State state)

getWTParent

public Transform3D getWTParent(State state)

getLinVel

public Vector3D getLinVel(State state)

getLinVelW

public Vector3D getLinVelW(State state)

return the linear velocity described in world frame

setLinVel

public void setLinVel(Vector3D lvel,
                      State state)

setLinVelW

public void setLinVelW(Vector3D lvel,
                       State state)

getAngVel

public Vector3D getAngVel(State state)

getAngVelW

public Vector3D getAngVelW(State state)

setAngVel

public void setAngVel(Vector3D avel,
                      State state)

setAngVelW

public void setAngVelW(Vector3D avel,
                       State state)

getPointVel

public Vector3D getPointVel(Vector3D p,
                            State state)

getMass

public double getMass()

getBodyInertia

public InertiaMatrixd getBodyInertia()

getBodyInertiaInv

public InertiaMatrixd getBodyInertiaInv()

calcInertiaTensorInv

public InertiaMatrixd calcInertiaTensorInv(State state)

calcInertiaTensor

public InertiaMatrixd calcInertiaTensor(State state)

getMovableFrame

public MovableFrame getMovableFrame()

calcEffectiveMass

public InertiaMatrixd calcEffectiveMass(Vector3D wPc,
                                        State state)

calcEffectiveMassW

public InertiaMatrixd calcEffectiveMassW(Vector3D wPc,
                                         State state)