RobWorkProject  23.9.11-
Public Types | Public Member Functions | List of all members
BtPositionDevice Class Reference

A position device. More...

#include <BtPositionDevice.hpp>

Inherits BtDevice.

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 ()
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 ()

Detailed Description

A position device.

Constructor & Destructor Documentation

◆ BtPositionDevice()

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


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

Member Function Documentation

◆ postUpdate()

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

Post update of device.

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

Implements BtDevice.

◆ update()

virtual void update ( double  dt,
rw::kinematics::State state 

Update device.

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

Implements BtDevice.

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