ODEBody Class Reference

a convienience class for bridging RWSim body states with ode body states. Properties of the objects such as MaterialID, collision reduction threshold is kept per instance. More...

#include <ODEBody.hpp>

Public Types
enum	ODEBodyType {   FIXED , KINEMATIC , RIGID , RIGIDODE ,   LINK , RigidDummy }

Public Member Functions
	ODEBody (dBodyID odeBody, rw::kinematics::Frame *frame)
	constructor for rigid bodies More...
	ODEBody (dBodyID odeBody, rw::core::Ptr< rwsim::dynamics::RigidBody > rwbody, rw::math::Vector3D<> offset, int matID, int conID)
	constructor for rigid bodies More...
	ODEBody (dBodyID odeBody, dynamics::Body::Ptr body, rw::math::Vector3D<> offset, int matID, int conID, ODEBodyType type)
	constructor for user defined type, eg. body does not necesarilly need to by of RigidBody to create an ODEBody::RIGID More...
	ODEBody (dBodyID odeBody, rw::core::Ptr< rwsim::dynamics::KinematicBody > rwbody, int matID, int conID)
	constructor for kinematic bodies More...
	ODEBody (std::vector< dGeomID > geomId, dynamics::Body::Ptr body, int matID, int conID)
	constructor for fixed bodies More...
virtual	~ODEBody ()
	Destructor.
void	update (const rwlibs::simulation::Simulator::UpdateInfo &dt, rw::kinematics::State &state)
	Called before collision checking and time stepping. More...
void	postupdate (rw::kinematics::State &state)
	This method updates the state with state info of this ode object. Which means that ode states are converted to rw states. More...
void	reset (const rw::kinematics::State &state)
	resets the ODE body to the values of the RW body More...
rwsim::dynamics::Body::Ptr	getRwBody () const
	returns the RobWork Body
dBodyID	getBodyID () const
	get the ODE bodyId
rw::math::Transform3D	getTransform () const
	get transform from world to bodyframe
rw::math::Transform3D	getTransformCOM () const
	get transform from world to COM
void	setTransform (const rw::kinematics::State &state)
	set transform of body, using bodyframe
void	setTransform (const rw::math::Transform3D<> &wTbody)
	set transform of body, using bodyframe
void	setTransformCOM (const rw::math::Transform3D<> &wTcom)
	set transform of body, using COM
ODEBodyType	getType () const
	get type of ODEBody
int	getMaterialID ()
	get material id
int	getContactID ()
	get contact model id
rw::kinematics::Frame *	getFrame ()
	get body frame
void	setCRTThres (double crtthres)
	set contact reduction parameter
double	getCRThres ()
	get contact reduction parameter
rw::math::Vector3D	getLastForce ()
void	bodyChangedListener (dynamics::Body::BodyEventType eventtype)
void	setTriGeomData (std::vector< ODEUtil::TriGeomData * > &data)
std::vector< ODEUtil::TriGeomData * > &	getTriGeomData ()

Static Public Member Functions
static ODEBody *	makeRigidBody (dynamics::Body::Ptr rwbody, dSpaceID spaceId, ODESimulator *sim)
	Construct a rigid body. More...
static ODEBody *	makeKinematicBody (dynamics::Body::Ptr kbody, dSpaceID spaceid, ODESimulator *sim)
	Construct a kinematic body. More...
static ODEBody *	makeFixedBody (dynamics::Body::Ptr kbody, dSpaceID spaceid, ODESimulator *sim)
	Construct a fixed body. More...

Detailed Description

a convienience class for bridging RWSim body states with ode body states. Properties of the objects such as MaterialID, collision reduction threshold is kept per instance.

Member Enumeration Documentation

ODEBodyType

enum ODEBodyType

this enum determines how and what the ODEBody maps from (ODE) and into (RW).

Enumerator
FIXED	a fixed body
KINEMATIC	a kinematic ode body and a kinematic RW body
RIGID	a rigid ode body and a RigidBody RW
RIGIDODE	a rigid ode body and a RW Body type (any other than RigidBody)

Constructor & Destructor Documentation

ODEBody() [1/5]

ODEBody	(	dBodyID	odeBody,
		rw::kinematics::Frame *	frame
	)

constructor for rigid bodies

Parameters

odeBody	[in] the id of the ode body.
frame	[in] the body frame.

ODEBody() [2/5]

ODEBody	(	dBodyID	odeBody,
		rw::core::Ptr< rwsim::dynamics::RigidBody >	rwbody,
		rw::math::Vector3D<>	offset,
		int	matID,
		int	conID
	)

constructor for rigid bodies

Parameters

odeBody	[in] the id of the ode body.
rwbody
offset	[in] offset of the center of mass relative to rwbody
matID	[in]
conID	[in]

ODEBody() [3/5]

ODEBody	(	dBodyID	odeBody,
		dynamics::Body::Ptr	body,
		rw::math::Vector3D<>	offset,
		int	matID,
		int	conID,
		ODEBodyType	type
	)

constructor for user defined type, eg. body does not necesarilly need to by of RigidBody to create an ODEBody::RIGID

Parameters

odeBody	[in] the id of the ode body.
body
offset	[in] offset of the center of mass relative to body
matID
conID
type

ODEBody() [4/5]

ODEBody	(	dBodyID	odeBody,
		rw::core::Ptr< rwsim::dynamics::KinematicBody >	rwbody,
		int	matID,
		int	conID
	)

constructor for kinematic bodies

Parameters

odeBody	[in]
rwbody
matID
conID

ODEBody() [5/5]

ODEBody	(	std::vector< dGeomID >	geomId,
		dynamics::Body::Ptr	body,
		int	matID,
		int	conID
	)

constructor for fixed bodies

Parameters

geomId
body
matID
conID

Member Function Documentation

makeFixedBody()

static ODEBody* makeFixedBody ( dynamics::Body::Ptr  kbody, dSpaceID  spaceid, ODESimulator *  sim  )

static

Construct a fixed body.

Parameters

kbody	[in] the RobWork body.
spaceid	[in] the ODE space to construct body in.
sim	[in] the ODE simulator.

Returns

a new ODEBody.

makeKinematicBody()

static ODEBody* makeKinematicBody ( dynamics::Body::Ptr  kbody, dSpaceID  spaceid, ODESimulator *  sim  )

static

Construct a kinematic body.

Parameters

kbody	[in] the RobWork body.
spaceid	[in] the ODE space to construct body in.
sim	[in] the ODE simulator.

Returns

a new ODEBody.

makeRigidBody()

static ODEBody* makeRigidBody ( dynamics::Body::Ptr  rwbody, dSpaceID  spaceId, ODESimulator *  sim  )

static

Construct a rigid body.

Parameters

rwbody	[in] the RobWork body.
spaceId	[in] the ODE space to construct body in.
sim	[in] the ODE simulator.

Returns

a new ODEBody.

postupdate()

void postupdate

(

rw::kinematics::State &

state

)

This method updates the state with state info of this ode object. Which means that ode states are converted to rw states.

Parameters

state

reset()

void reset

(

const rw::kinematics::State &

state

)

resets the ODE body to the values of the RW body

Parameters

state

update()

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

Called before collision checking and time stepping.

Parameters

dt	[in] info related to the timestep.
state

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

• ODEBody.hpp