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| RWBody (int id) |
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virtual void | saveState (double h, rw::kinematics::State &state) |
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virtual void | rollBack (rw::kinematics::State &state) |
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virtual void | updateVelocity (double h, rw::kinematics::State &state) |
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virtual void | updatePosition (double h, rw::kinematics::State &state) |
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virtual void | updateImpulse () |
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rw::math::Vector3D | getPointVelW (const rw::math::Vector3D<> &p) |
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rw::math::InertiaMatrix | getEffectiveMassW (const rw::math::Vector3D<> &wPc) |
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| double | calcEnergy (const rw::math::Vector3D<> &grav) |
| | calculates and returns the total energy of this body where grav is the constant gravitation. More...
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void | calcAuxVarialbles (rw::kinematics::State &state) |
| | this is called to precalculate all auxiliary variables.
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rw::kinematics::Frame * | getBodyFrame () const |
| | gets the frame that the bodies dynamic variables are described relative to.
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const std::string & | getMaterial () |
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void | resetState (rw::kinematics::State &state) |
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| virtual void | reset () |
| | reset the state variables of this body More...
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BodyType | getType () |
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void | setBody (dynamics::Body *body) |
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void | setType (BodyType type) |
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virtual void | setForce (const rw::math::Vector3D<> &f) |
| | Sets the force described in parent frame acting on the center mass of this body.
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virtual void | setForceW (const rw::math::Vector3D<> &f) |
| | Sets the force described in world frame acting on the center mass of this body.
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virtual rw::math::Vector3D | getForceW () |
| | Gets the force described in world frame acting on the center mass of this body.
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virtual const rw::math::Vector3D & | getForce () |
| | Gets the force described in parent frame acting on the center mass of this body.
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virtual void | addForce (const rw::math::Vector3D<> &force) |
| | Adds a force described in parent frame to the center of mass of this body.
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virtual void | addForceW (const rw::math::Vector3D<> &force) |
| | Adds a force described in world frame to the center of mass of this body.
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virtual void | addForceToPos (const rw::math::Vector3D<> &force, const rw::math::Vector3D<> &pos) |
| | Adds a force described in parent frame to this body which is working on a specific position pos that is described relative to this body.
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virtual void | addForceWToPosW (const rw::math::Vector3D<> &force, const rw::math::Vector3D<> &pos) |
| | Adds a force described in world frame to this body which is worked on a specific position pos that is described relative to world.
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virtual void | addImpulseToPos (const rw::math::Vector3D<> &impulse, const rw::math::Vector3D<> &pos) |
| | Adds a impulse described in parent frame to this body which is working on a specific position pos that is described relative to this body.
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virtual void | addImpulseWToPosW (const rw::math::Vector3D<> &impulse, const rw::math::Vector3D<> &pos) |
| | Adds a impulse described in world frame to this body which is worked on a specific position pos that is described relative to world.
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virtual void | addGravitation (const rw::math::Vector3D<> &grav) |
| | adds gravitation to the body where the gravitation is described in body frame
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virtual void | addGravitationW (const rw::math::Vector3D<> &grav) |
| | adds gravitation to the body where the gravitation is described in world frame
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virtual void | setGravitation (const rw::math::Vector3D<> &grav) |
| | sets gravitation to the body where the gravitation is described in body frame
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virtual void | setGravitationW (const rw::math::Vector3D<> &grav) |
| | sets gravitation to the body where the gravitation is described in world frame
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virtual void | setTorque (const rw::math::Vector3D<> &t) |
| | set the torque of this body with torque t, where t is described in body frame
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virtual void | setTorqueW (const rw::math::Vector3D<> &t) |
| | set the torque of this body with torque t, where t is described in world frame
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virtual const rw::math::Vector3D & | getTorque () |
| | returns torque described in body frame
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virtual rw::math::Vector3D | getTorqueW () |
| | returns torque described in world frame
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virtual const rw::math::Transform3D & | getPTBody () |
| | returns the transform from parent to body
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virtual void | setPTBody (const rw::math::Transform3D<> &pTb, rw::kinematics::State &state) |
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virtual const rw::math::Transform3D & | getWTBody () |
| | returns the transform from world to body
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virtual rw::math::Vector3D | getLinVel () |
| | return the linear velocity described in parent frame
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virtual rw::math::Vector3D | getLinVelW () |
| | return the linear velocity described in world frame
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virtual void | setLinVel (const rw::math::Vector3D<> &lvel) |
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virtual const rw::math::Vector3D & | getAngVel () |
| | returns the angular velocity described in parent frame
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virtual rw::math::Vector3D | getAngVelW () |
| | returns the angular velocity described in world frame
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virtual void | setAngVel (const rw::math::Vector3D<> &avel) |
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rw::math::Vector3D | getPointVel (const rw::math::Vector3D<> &p) |
| | calculates the relative velocity in parent frame of a point p on the body described in parent frame.
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double | getMass () const |
| | returns the mass of this body
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double | getMassInv () const |
| | returns the inverse of the mass of this body
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const rw::math::InertiaMatrix & | getBodyInertia () const |
| | returns the body inertia matrix
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const rw::math::InertiaMatrix & | getBodyInertiaInv () const |
| | return the inverse of the body inertia matrix
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| const rw::math::InertiaMatrix & | getInertiaTensorInv () const |
| | returns the inverse of the inertia tensor described in parent frame. More...
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rw::math::InertiaMatrix | getInertiaTensorInvW () const |
| | returns the inverse of the inertia tensor described in world frame.
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const rw::math::InertiaMatrix & | getInertiaTensor () const |
| | returns the inverse of the inertia tensor described in parent frame.
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int | getId () |
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1.9.1