Child class to enable modification of inertia matrices. More...

#include <RobotSimulator.h>

Public Member Functions
bool	changeDynamics (int bodyUniqueId, int linkIndex, RobotSimulatorChangeDynamicsArgs &args)
	Modifies the dynamic properties of a link. More...

Detailed Description

Child class to enable modification of inertia matrices.

Member Function Documentation

bool upkie::cpp::actuation::bullet::RobotSimulatorClientAPI::changeDynamics	(	int	bodyUniqueId,
		int	linkIndex,
		RobotSimulatorChangeDynamicsArgs &	args
	)

Modifies the dynamic properties of a link.

This is a variant of b3RobotSimulatorClientAPI::changeDynamics that allows updating inertia matrices as well. Its usage is identical to the original.

Parameters

[in]	bodyUniqueId	The body which links will be modified
[in]	linkIndex	The link id
[in]	args	Structure which contains the values to modify

Returns: True if changes were applied successfully, false if there was an issue.

The documentation for this class was generated from the following files: