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Joint world pose for each step of simulation

asked 2018-08-13 23:09:43 -0600

jc gravatar image

updated 2018-08-13 23:10:23 -0600

How would I obtain joint world pose data for each step in a simulation? I have a model plugin that can get the joint position before the simulation is run, but how do I get the joint world pose for each simulation step?


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answered 2018-08-14 04:04:54 -0600

Veztak gravatar image

If you have a function that gets the joint world pose before simulation i assume you are calling it in the Load() function of the plugin. You can then, in the same way, call your function in the OnUpdate() loop. By my understanding, that gets called every iteration.

You can find a more detailed description at: Sensor OnUpdate

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Thanks for the help! Outside of the tutorials where is this documented?

jc gravatar imagejc ( 2018-08-14 11:02:31 -0600 )edit

answered 2018-08-14 11:07:41 -0600

jc gravatar image

If anyone is interested, this tutorial helped me.

Add this to the Load() function:

      this->updateConnection = event::Events::ConnectWorldUpdateBegin(
      std::bind(&ModelPush::OnUpdate, this));

And delcare this variable:

    private: event::ConnectionPtr updateConnection;

And finally add the OnUpdate() function:

    public: void OnUpdate()
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Asked: 2018-08-13 23:09:43 -0600

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Last updated: Aug 14