amino  1.0-beta2
Lightweight Robot Utility Library
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Macros Pages
scene_dyn.h File Reference

scenegraph dynamics support More...

Go to the source code of this file.

Functions

AA_API void aa_rx_sg_frame_set_inertial (struct aa_rx_sg *scenegraph, const char *frame, double mass, const double inertia[9])
 Set the frame inertial parameters. More...
 
AA_API double aa_rx_sg_frame_get_mass (struct aa_rx_sg *scenegraph, aa_rx_frame_id frame)
 Get the frame mass. More...
 
AA_API const double * aa_rx_sg_frame_get_inertia (struct aa_rx_sg *scenegraph, aa_rx_frame_id frame)
 Get the frame inertia tensor. More...
 

Detailed Description

scenegraph dynamics support

Definition in file scene_dyn.h.

Function Documentation

AA_API const double* aa_rx_sg_frame_get_inertia ( struct aa_rx_sg scenegraph,
aa_rx_frame_id  frame 
)

Get the frame inertia tensor.

Returns
pointer to frame inertia tensor, stored in column major order, or NULL is mass has not been set for frame.
AA_API double aa_rx_sg_frame_get_mass ( struct aa_rx_sg scenegraph,
aa_rx_frame_id  frame 
)

Get the frame mass.

Returns
the frame mass or NAN is mass has not been set for frame
AA_API void aa_rx_sg_frame_set_inertial ( struct aa_rx_sg scenegraph,
const char *  frame,
double  mass,
const double  inertia[9] 
)

Set the frame inertial parameters.

Parameters
scenegraphthe scenegraph container
framename of frame to set mass parameters for
massmass of the frame
inertiathe inertia tensor, stored in column major order