ODEDevice Class Reference

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.

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

• ODEDevice.hpp