LVODE Properties and Methods (Robotics Module)

June 2012, 375707B-01

Requires: Robotics Module

To Use: Create a property or method.

Use the LVODE properties and methods to read or write properties of simulated components or invoke methods on components, respectively. LVODE property and method classes are arranged in a hierarchy with each class inheriting the properties and methods associated with the class in the preceding level. Refer to the ODE Manual at www.ode-wiki.org/wiki for detailed information about ODE-specific concepts and terms.

You can use LVODE properties and methods in the following classes:

• World properties and methods
  
  The world object is a container for rigid bodies and joints.
• Body properties and methods
  
  Bodies are the basic element of simulation in the robotics simulator, and every body belongs to a world.
• Geom properties and methods
  
  Geometry objects, or geoms, are the basics objects in the collision system. A geom can represent a single rigid shape, such as a sphere or box, or a group of geoms, referred to as a space.
  • Box properties
  • Cylinder methods
  • Plane properties
  • Ray properties and methods
  • Space properties and methods
  • Sphere properties
  • TriMesh properties
• JointGroup properties and methods
  
  A jointgroup is a collection of joints in a world.
• Joint properties and methods
  
  A joint is a relationship enforced between two bodies so that they can have only certain positions and orientations relative to one another. Joints of various kinds connect objects.
  • AMotorJoint properties and methods
  • BallJoint properties
  • FixedJoint properties and methods
  • Hinge2Joint properties and methods
  • HingeJoint properties and methods
  • LMotorJoint properties and methods
  • NullJoint properties
  • PRJoint properties
  • PUJoint properties
  • PistonJoint properties and methods
  • SliderJoint properties and methods
  • UniversalJoint properties and methods
• Mass properties and methods
  
  Bodies in the robotics simulator contain the mass information. Use the mass properties and methods to define the mass information of a body.
• Sensor properties
  
  Use Sensor properties and methods to communicate with simulated sensors and actuators.
  • Accelerometer properties
  • Bumper properties
  • Camera properties
  • Compass properties
  • DistanceSensor properties
  • ForceSensor properties
  • Gyroscope properties
  • IMU properties
  • GPS properties
  • LIDAR properties and methods

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