RobWorkProject  21.8.23-
ODEVelocityDevice Class Reference

A bridge between the RW RigidDevice and a set of connected joints and rigid bodies. More...

#include <ODEVelocityDevice.hpp>

Inherits ODEDevice.

## Public Member Functions

ODEVelocityDevice (ODEBody *base, dynamics::RigidDevice *rdev, const rw::kinematics::State &state, ODESimulator *sim)
constructor

virtual ~ODEVelocityDevice ()
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)
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...

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...

Public Member Functions inherited from ODEDevice
virtual ~ODEDevice ()
destructor

## Detailed Description

A bridge between the RW RigidDevice and a set of connected joints and rigid bodies.

ODE does not support simulation of devices using a reduced coordinate scheme. Only maximal coordinates are supported. This class maps an articulated body (Device) in reduced coordinates (RobWork) to a articulated body in maximal coordinates (ODE).

## ◆ getBodies()

 std::vector< ODEBody* > getBodies ( )
inlinevirtual

Get the ODE bodies in the device.

Returns
a vector of bodies.

Implements ODEDevice.

## ◆ postUpdate()

 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()

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

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

Parameters
 state

Implements ODEDevice.

## ◆ update()

 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.

The documentation for this class was generated from the following file:
• ODEVelocityDevice.hpp