KinematicState Class Reference

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Detailed Description

The KinematicState represents the current pose of an X3DObject object whereas the base pose of an object is represented by the StaticKinematicState.

See also:

Kinematics::GetGlobal, Kinematics::GetLocal, StaticKinematicState

Example:

        using namespace XSI;
        Application app;
        Model root = app.GetActiveSceneRoot();

        Null myNull;
        root.AddNull( L"", myNull );

        app.LogMessage( myNull.GetKinematics().GetGlobal().GetClassIDName() );

#include <xsi_kinematicstate.h>

Inheritance diagram for KinematicState:

List of all members.

Public Member Functions
	KinematicState ()
	~KinematicState ()
	KinematicState (const CRef &in_ref)
	KinematicState (const KinematicState &in_obj)
bool	IsA (siClassID in_ClassID) const
siClassID	GetClassID () const
KinematicState &	operator= (const KinematicState &in_obj)
KinematicState &	operator= (const CRef &in_ref)
MATH::CTransformation	GetTransform (double in_dFrame=DBL_MAX) const
CStatus	PutTransform (const MATH::CTransformation &in_transf, double in_dFrame=DBL_MAX)

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Constructor & Destructor Documentation

KinematicState

(

)

Default constructor.

~KinematicState

(

)

Default destructor.

KinematicState

(

const CRef &

in_ref

)

Constructor.

Parameters:

in_ref

constant reference object.

KinematicState

(

const KinematicState &

in_obj

)

Copy constructor.

Parameters:

in_obj

constant class object.

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Member Function Documentation

bool IsA

(

siClassID

in_ClassID

)

const [virtual]

Returns true if a given class type is compatible with this API class.

Parameters:

in_ClassID

class type.

Returns:

true if the class is compatible, false otherwise.

Reimplemented from Parameter.

siClassID GetClassID

(

)

const [virtual]

Returns the type of the API class.

Returns:

The class type.

Reimplemented from Parameter.

KinematicState& operator=

(

const KinematicState &

in_obj

)

Creates an object from another object. The newly created object is set to empty if the input object is not compatible.

Parameters:

in_obj

constant class object.

Returns:

The new KinematicState object.

KinematicState& operator=

(

const CRef &

in_ref

)

Creates an object from a reference object. The newly created object is set to empty if the input reference object is not compatible.

Parameters:

in_ref

constant class object.

Returns:

The new KinematicState object.

Reimplemented from Parameter.

MATH::CTransformation GetTransform

(

double

in_dFrame = DBL_MAX

)

const

Returns the transformation of an object.

Parameters:

in_dFrame

Frame at which to get the transform, it defaults to the current frame (DBL_MAX indicates the current frame).

Returns:

The Transformation object.

CStatus PutTransform	(	const MATH::CTransformation &	in_transf,
		double	in_dFrame = DBL_MAX
	)

Sets the transformation of an object. Currently you cannot set the transform at a different time other than the current time.

Parameters:

in_transf	The transformation object.
in_dFrame	Frame at which to set the transform (not supported yet).

Returns:

CStatus::OK success

CStatus::Fail failure

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

• xsi_kinematicstate.h