RobWorkProject
23.9.11-
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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 () |
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. | |
A position device.
BtPositionDevice | ( | rw::core::Ptr< rwsim::dynamics::KinematicDevice > | dev, |
const std::vector< FrameBodyPair > & | frameToBtBody | ||
) |
Constructor.
dev | [in] a kinematic device. |
frameToBtBody | [in] a list of pairs of Frames and Bullet bodies. |
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virtual |
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virtual |
Update device.
dt | [in] the timestep. |
state | [in/out] the state to update. |
Implements BtDevice.