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RobWorkProject
25.2.11-
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A bridge between the RW KinematicDevice and kinematicly controlled ODE dBodies. More...
#include <ODEKinematicDevice.hpp>
Inherits ODEDevice.
Public Member Functions | |
ODEKinematicDevice (dynamics::KinematicDevice *rdev, const rw::kinematics::State &state, ODESimulator *sim) | |
constructor More... | |
virtual | ~ODEKinematicDevice () |
destructor | |
void | reset (rw::kinematics::State &state) |
resets the ODE device to the state values of the RWSim device. More... | |
void | update (const rwlibs::simulation::Simulator::UpdateInfo &dt, rw::kinematics::State &state) |
void | postUpdate (rw::kinematics::State &state) |
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... | |
std::vector< ODEBody * > | getBodies () |
Get the ODE bodies in the device. More... | |
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virtual | ~ODEDevice () |
destructor | |
A bridge between the RW KinematicDevice and kinematicly controlled ODE dBodies.
ODEKinematicDevice | ( | dynamics::KinematicDevice * | rdev, |
const rw::kinematics::State & | state, | ||
ODESimulator * | sim | ||
) |
constructor
rdev | |
state | [in] |
sim | the simulator. |
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inlinevirtual |
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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.
state |
Implements ODEDevice.
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virtual |
resets the ODE device to the state values of the RWSim device.
state |
Implements ODEDevice.
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virtual |
dt | |
state |
Implements ODEDevice.