ODEKinematicDevice Class Reference

A bridge between the RW KinematicDevice and kinematicly controlled ODE dBodies. More...

#include <ODEKinematicDevice.hpp>

Inherits ODEDevice.

Public Member Functions
	ODEKinematicDevice (dynamics::KinematicDevice *rdev, const rw::kinematics::State &state, ODESimulator *sim)
	constructor More...
virtual	~ODEKinematicDevice ()
	destructor
void	reset (rw::kinematics::State &state)
	resets the ODE device to the state values of the RWSim device. More...
void	update (const rwlibs::simulation::Simulator::UpdateInfo &dt, rw::kinematics::State &state)
void	postUpdate (rw::kinematics::State &state)
	The post update is called after a simulation step has been performed. Here the modified states (force,velocity,position) of the ODE device is written back to the state object. More...
std::vector< ODEBody * >	getBodies ()
	Get the ODE bodies in the device. More...
Public Member Functions inherited from ODEDevice
virtual	~ODEDevice ()
	destructor

Detailed Description

A bridge between the RW KinematicDevice and kinematicly controlled ODE dBodies.

Constructor & Destructor Documentation

ODEKinematicDevice()

ODEKinematicDevice	(	dynamics::KinematicDevice *	rdev,
		const rw::kinematics::State &	state,
		ODESimulator *	sim
	)

constructor

Parameters

rdev
state	[in]
sim	the simulator.

Member Function Documentation

getBodies()

std::vector<ODEBody*> getBodies ( )

inlinevirtual

Get the ODE bodies in the device.

Returns

a vector of bodies.

Implements ODEDevice.

postUpdate()

void postUpdate ( rw::kinematics::State &  state )

virtual

The post update is called after a simulation step has been performed. Here the modified states (force,velocity,position) of the ODE device is written back to the state object.

Parameters

state

Implements ODEDevice.

reset()

void reset ( rw::kinematics::State &  state )

virtual

resets the ODE device to the state values of the RWSim device.

Parameters

state

Implements ODEDevice.

update()

void update ( const rwlibs::simulation::Simulator::UpdateInfo &  dt, rw::kinematics::State &  state  )

virtual

Parameters

dt
state

Implements ODEDevice.

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

• ODEKinematicDevice.hpp