amino  1.0-beta2
Lightweight Robot Utility Library
scene_dyn.h
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37 
38 #ifndef AMINO_SCENE_DYN_H
39 #define AMINO_SCENE_DYN_H
40 
54 AA_API void
55 aa_rx_sg_frame_set_inertial( struct aa_rx_sg *scenegraph,
56  const char *frame,
57  double mass,
58  const double inertia[9] );
64 AA_API double
65 aa_rx_sg_frame_get_mass( struct aa_rx_sg *scenegraph,
66  aa_rx_frame_id frame );
67 
74 AA_API const double*
75 aa_rx_sg_frame_get_inertia( struct aa_rx_sg *scenegraph,
76  aa_rx_frame_id frame );
77 
78 #endif /*AMINO_SCENE_DYN_H*/
signed long aa_rx_frame_id
Type for frame indices.
Definition: scenegraph.h:49
Opaque type for a scene_graph.
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.
#define AA_API
calling and name mangling convention for functions
Definition: amino.h:95
AA_API double aa_rx_sg_frame_get_mass(struct aa_rx_sg *scenegraph, aa_rx_frame_id frame)
Get the frame mass.
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.