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cisst-saw
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#include <osaODEJoint.h>
Public Member Functions | |
| osaODEJoint (dWorldID world, dBodyID body1, dBodyID body2, int type, const vctFixedSizeVector< double, 3 > &anchor, const vctFixedSizeVector< double, 3 > &axis, double qmin, double qmax) | |
| Default constructor. More... | |
| dBodyID | GetProximalBody () const |
| dBodyID | GetDistalBody () const |
| dJointID | JointID () const |
| Return the ODE ID of the joint. More... | |
| dJointID | FrictionID () const |
| Return the ODE ID of the joint friction. More... | |
| int | GetType () const |
| Return the ODE joint type. More... | |
| double | GetPosition () const |
| Return the position. More... | |
| double | GetVelocity () const |
| Return the velocity. More... | |
| double | GetForceTorque () const |
| Get the force/torque. More... | |
| void | SetForceTorque (double ft) |
| Set the force/torque. More... | |
| void | ApplyForceTorque () |
| Apply the force/torque. More... | |
| osaODEJoint::osaODEJoint | ( | dWorldID | world, |
| dBodyID | body1, | ||
| dBodyID | body2, | ||
| int | type, | ||
| const vctFixedSizeVector< double, 3 > & | anchor, | ||
| const vctFixedSizeVector< double, 3 > & | axis, | ||
| double | qmin, | ||
| double | qmax | ||
| ) |
Default constructor.
| world | The world the joint lives in |
| body1 | The 1st ODE body attached to the joint |
| body2 | The 2nd ODE body attached to the joint |
| type | The ODE joint type |
| anchor | The position of the joint |
| axis | The axis of motion of the joint |
| qmin | The minimum joint position |
| qmin | The maximum joint position |
| void osaODEJoint::ApplyForceTorque | ( | ) |
Apply the force/torque.
Apply the set force/torque to the joint. This method is called by the ODE world to apply a force/torque previously set.
| dJointID osaODEJoint::FrictionID | ( | ) | const |
Return the ODE ID of the joint friction.
| dBodyID osaODEJoint::GetDistalBody | ( | ) | const |
| double osaODEJoint::GetForceTorque | ( | ) | const |
Get the force/torque.
| double osaODEJoint::GetPosition | ( | ) | const |
Return the position.
Returns the joint position given by ODE
| dBodyID osaODEJoint::GetProximalBody | ( | ) | const |
|
inline |
Return the ODE joint type.
| double osaODEJoint::GetVelocity | ( | ) | const |
Return the velocity.
Returns the joint velocity given by ODE
| dJointID osaODEJoint::JointID | ( | ) | const |
Return the ODE ID of the joint.
| void osaODEJoint::SetForceTorque | ( | double | ft | ) |
Set the force/torque.
Set the force/torque. The new value is NOT cliped at the limit.
| ft | The new force/torque (no unit) |
1.8.6