RobWorkProject  24.6.21-
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ODEDevice Class Referenceabstract

interface for classes (ODEDevices) that control a set of ode bodies that map to a RWSim dynamic device type. More...

#include <ODEDevice.hpp>

Inherited by ODEKinematicDevice, ODESuctionCupDevice, and ODEVelocityDevice.

Public Member Functions

virtual ~ODEDevice ()
 destructor
 
virtual void reset (rw::kinematics::State &state)=0
 resets the ODE device to the state values of the RWSim device. More...
 
virtual void update (const rwlibs::simulation::Simulator::UpdateInfo &dt, rw::kinematics::State &state)=0
 the update call is made prior to the simulation step. In this method states of the ODE bodies and joints (forces, velocities, eg) can be updated from the state of the RWSim device. More...
 
virtual void postUpdate (rw::kinematics::State &state)=0
 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...
 
virtual std::vector< ODEBody * > getBodies ()=0
 Get the ODE bodies in the device. More...
 

Detailed Description

interface for classes (ODEDevices) that control a set of ode bodies that map to a RWSim dynamic device type.

Member Function Documentation

◆ getBodies()

virtual std::vector<ODEBody*> getBodies ( )
pure virtual

Get the ODE bodies in the device.

Returns
a vector of bodies.

Implemented in ODEVelocityDevice, ODESuctionCupDevice, and ODEKinematicDevice.

◆ postUpdate()

virtual void postUpdate ( rw::kinematics::State state)
pure 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

Implemented in ODEVelocityDevice, ODESuctionCupDevice, and ODEKinematicDevice.

◆ reset()

virtual void reset ( rw::kinematics::State state)
pure virtual

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

Parameters
state

Implemented in ODEVelocityDevice, ODESuctionCupDevice, and ODEKinematicDevice.

◆ update()

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

the update call is made prior to the simulation step. In this method states of the ODE bodies and joints (forces, velocities, eg) can be updated from the state of the RWSim device.

Parameters
dt
state[out] ODEDevice state values are copied to state

Implemented in ODEVelocityDevice, ODESuctionCupDevice, and ODEKinematicDevice.


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