DynamicUtil Class Reference

Utility functions for calculating dynamic properties. More...

#include <DynamicUtil.hpp>

Static Public Member Functions
static std::vector< rw::kinematics::Frame * >	getAnchoredFrames (rw::kinematics::Frame &f, const rw::kinematics::State &state)
	util function that locates all frames that is staticly connected to f and that has geometry information.
static std::vector< rw::kinematics::Frame * >	getAnchoredChildFrames (rw::core::Ptr< rw::kinematics::Frame > parent, const rw::kinematics::State &state)
	util function that locates all frames in the sub tree of parent that is staticly connected and that has geometry information.
static std::vector< rw::kinematics::Frame * >	getAnchoredChildFrames (rw::core::Ptr< rw::kinematics::Frame > parent, const rw::kinematics::State &state, const std::vector< rw::kinematics::Frame * > &exclude)
static std::vector< RigidBody::Ptr >	getRigidBodies (DynamicWorkCell &dwc)
	get rigid bodies from a dynamic workcell More...
static bool	isResting (rw::core::Ptr< DynamicWorkCell > dwc, const rw::kinematics::State &state, double max_linvel=0.02, double max_angvel=0.1, double max_jointvel=0.05)
	Check if the dynamic workcell has reached a steady state where objects are in rest. More...
static bool	isResting (rw::core::Ptr< DynamicDevice > dev, const rw::kinematics::State &state, double max_linjointvel=0.02, double max_jointvel=0.05)
	Check if a device has reached a steady state where it is in rest. More...

Detailed Description

Utility functions for calculating dynamic properties.

Member Function Documentation

getAnchoredChildFrames()

static std::vector<rw::kinematics::Frame*> getAnchoredChildFrames ( rw::core::Ptr< rw::kinematics::Frame >  parent, const rw::kinematics::State &  state, const std::vector< rw::kinematics::Frame * > &  exclude  )

static

Parameters

parent
state
exclude

Returns

getRigidBodies()

static std::vector<RigidBody::Ptr> getRigidBodies ( DynamicWorkCell &  dwc )

static

get rigid bodies from a dynamic workcell

Parameters

dwc

Returns

all rigid bodies in a dynamic workcell

isResting() [1/2]

static bool isResting ( rw::core::Ptr< DynamicDevice >  dev, const rw::kinematics::State &  state, double  max_linjointvel = 0.02, double  max_jointvel = 0.05  )

static

Check if a device has reached a steady state where it is in rest.

Parameters

dev	[in] the device.
state	[in] the current state.
max_linjointvel	[in] (optional) the linear joint velocity threshold. Default is 0.02 m/s.
max_jointvel	[in] (optional) the angular joint velocity threshold. Default is 0.05 rad/s.

Returns

isResting() [2/2]

static bool isResting ( rw::core::Ptr< DynamicWorkCell >  dwc, const rw::kinematics::State &  state, double  max_linvel = 0.02, double  max_angvel = 0.1, double  max_jointvel = 0.05  )

static

Check if the dynamic workcell has reached a steady state where objects are in rest.

Parameters

dwc	[in] the dynamic workcell.
state	[in] the current state.
max_linvel	[in] (optional) the linear velocity threshold. Default is 0.02 m/s.
max_angvel	[in] (optional) the angular velocity threshold. Default is 0.1 rad/s.
max_jointvel	[in] (optional) the joint velocity threshold. Default is 0.05 rad/s.

Returns

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

• DynamicUtil.hpp