RobWorkProject  24.6.21-
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ODEJoint Class Reference

this class bridges ODE's joints with RobWork joints. The joint is a pure constraint type and hence does not have any geometry. It does however constraint two geometrical bodies together. More...

#include <ODEJoint.hpp>

Public Types

enum  ODEJointType { FIXED , RIGID , DEPEND , DEPEND_PAR }
 
enum  JointType { Revolute , Prismatic }
 

Public Member Functions

 ODEJoint (rw::models::Joint *rwjoint, ODEBody *parent, ODEBody *child, ODESimulator *sim, const rw::kinematics::State &state)
 constructs a ODE joint based on a robwork joint. More...
 
void setForce (double vel)
 
double getActualVelocity ()
 
double getAngle ()
 
ODEJointgetOwner ()
 
ODEJointType getType ()
 
void reset (const rw::kinematics::State &state)
 
double getScale ()
 
double getOffset ()
 
ODEBodygetParent ()
 
ODEBodygetChild ()
 
rw::models::JointgetJoint ()
 
bool isDepend ()
 
void setVelocity (double vel)
 Functions that require a MOTOR.
 
double getVelocity ()
 
void setMaxForce (double force)
 
double getMaxForce ()
 
void setAngle (double pos)
 
void setMotorEnabled (bool enabled)
 
bool isMotorEnabled ()
 

Detailed Description

this class bridges ODE's joints with RobWork joints. The joint is a pure constraint type and hence does not have any geometry. It does however constraint two geometrical bodies together.

Constructor & Destructor Documentation

◆ ODEJoint()

ODEJoint ( rw::models::Joint rwjoint,
ODEBody parent,
ODEBody child,
ODESimulator sim,
const rw::kinematics::State state 
)

constructs a ODE joint based on a robwork joint.

Parameters
rwjoint
parent
child
sim
state

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