A position device. More...

#include <BtPositionDevice.hpp>

Public Types
typedef std::pair< const rw::kinematics::Frame , btRigidBody >	FrameBodyPair
	Definition of a RobWork frame and Bullet body pair.

Public Member Functions
	BtPositionDevice (rw::core::Ptr< rwsim::dynamics::KinematicDevice > dev, const std::vector< FrameBodyPair > &frameToBtBody)
	Constructor. More...

virtual	~BtPositionDevice ()
	Destructor.

virtual void	update (double dt, rw::kinematics::State &state)
	Update device. More...

virtual void	postUpdate (rw::kinematics::State &state)
	Post update of device. More...

Public Member Functions inherited from BtDevice
virtual	~BtDevice ()
	Destructor.

Detailed Description

A position device.

Constructor & Destructor Documentation

BtPositionDevice	(	rw::core::Ptr< rwsim::dynamics::KinematicDevice >	dev,
		const std::vector< FrameBodyPair > &	frameToBtBody
	)

Constructor.

Parameters

dev	[in] a kinematic device.
frameToBtBody	[in] a list of pairs of Frames and Bullet bodies.

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

virtual

Post update of device.

Parameters

state [in/out] the result of the update.

Implements BtDevice.

virtual

Update device.

Parameters

dt	[in] the timestep.
state	[in/out] the state to update.

Implements BtDevice.

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