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RobWorkProject
25.5.19-
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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... | |
Utility functions for calculating dynamic properties.
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parent | |
state | |
exclude |
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get rigid bodies from a dynamic workcell
dwc |
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Check if a device has reached a steady state where it is in rest.
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. |
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Check if the dynamic workcell has reached a steady state where objects are in rest.
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. |