ODESuctionCupDevice Class Reference

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

#include <ODESuctionCupDevice.hpp>

Inherits ODEDevice.

Public Member Functions
	ODESuctionCupDevice (ODEBody *base, rwsim::dynamics::SuctionCup *dev, ODESimulator *odesim, rw::kinematics::State &state)
	Constructor. More...
void	init (ODEBody *base, rwsim::dynamics::SuctionCup *dev, ODESimulator *odesim, rw::kinematics::State &state)
	Initialize the device. More...
virtual	~ODESuctionCupDevice ()
	Destructor.
virtual void	reset (rw::kinematics::State &state)
	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)
	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)
	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...
rw::geometry::TriMesh::Ptr	getSpikedMesh ()
	Get spiked mesh. More...
ODEBody *	getEndBody ()
	Get the end body. More...
std::vector< ODEBody * >	getBodies ()
	Get the ODE bodies in the device. More...
Public Member Functions inherited from ODEDevice
virtual	~ODEDevice ()
	destructor

Detailed Description

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

Constructor & Destructor Documentation

ODESuctionCupDevice()

ODESuctionCupDevice	(	ODEBody *	base,
		rwsim::dynamics::SuctionCup *	dev,
		ODESimulator *	odesim,
		rw::kinematics::State &	state
	)

Constructor.

Parameters

base	[in] the base body of the device.
dev	[in] the RobWork SuctionCup device.
odesim	[in] the simulator.
state	[in] the state.

Member Function Documentation

getBodies()

std::vector<ODEBody*> getBodies ( )

inlinevirtual

Get the ODE bodies in the device.

Returns

a vector of bodies.

Implements ODEDevice.

getEndBody()

ODEBody* getEndBody ( )

inline

Get the end body.

Returns

the end body.

getSpikedMesh()

rw::geometry::TriMesh::Ptr getSpikedMesh ( )

inline

Get spiked mesh.

Returns

the mesh.

init()

void init	(	ODEBody *	base,
		rwsim::dynamics::SuctionCup *	dev,
		ODESimulator *	odesim,
		rw::kinematics::State &	state
	)

Initialize the device.

Parameters

base	[in] the base body of the device.
dev	[in] the RobWork SuctionCup device.
odesim	[in] the simulator.
state	[in] the state.

postUpdate()

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

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

Implements ODEDevice.

reset()

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

virtual

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

Parameters

state

Implements ODEDevice.

update()

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

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

Implements ODEDevice.

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

• ODESuctionCupDevice.hpp