Allows constraining the motion between two bodies in ODE simulation. More...

#include <ODEConstraint.hpp>

Public Member Functions
	ODEConstraint (rw::core::Ptr< const rwsim::dynamics::Constraint > constraint, const ODEBody const parent, const ODEBody const child, const ODESimulator *const simulator)
	Construct a new ODE implementation of a Constraint. More...

virtual	~ODEConstraint ()
	Destructor.

void	update (const rwlibs::simulation::Simulator::UpdateInfo &dt, rw::kinematics::State &state)
	Called before collision checking and time stepping. More...

void	setLoStop (std::size_t dof, double limit) const

void	setHiStop (std::size_t dof, double limit) const

Detailed Description

Allows constraining the motion between two bodies in ODE simulation.

This is the ODE implementation of rwsim::dynamics::Constraint

Please see the ODE Wiki for details on the different joint types.

Constructor & Destructor Documentation

ODEConstraint	(	rw::core::Ptr< const rwsim::dynamics::Constraint >	constraint,
		const ODEBody *const	parent,
		const ODEBody *const	child,
		const ODESimulator *const	simulator
	)

Construct a new ODE implementation of a Constraint.

Parameters

constraint	[in] the RobWork constraint.
parent	[in] the parent ODEBody.
child	[in] the child ODEBody.
simulator	[in] the ODESimulator that creates this constraint.

Set or change a higher limit for a constraint.

Parameters

dof	[in] the degree of freedom to set (0 or 1).
limit	[in] the limit to set.

Set or change a lower limit for a constraint.

Parameters

dof	[in] the degree of freedom to set (0 or 1).
limit	[in] the limit to set.

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

Called before collision checking and time stepping.

Parameters

dt	[in] info related to the timestep.
state	[in/out] the state is updated with new values.

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