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 ()
ODEJoint *	getOwner ()
ODEJointType	getType ()
void	reset (const rw::kinematics::State &state)
double	getScale ()
double	getOffset ()
ODEBody *	getParent ()
ODEBody *	getChild ()
rw::models::Joint *	getJoint ()
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

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

• ODEJoint.hpp