Hi All,
What are the differences between the following functions and when are they used?
1) realizeAcceleration()
2) realizeDynamics()
3) realizePosition()
4) realizeReport()
PS: I want to store all the states during the forward integration. Are these functions needed to do that?
Thanks,
William
What are realize_ functions?
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Michael Sherman
- Posts: 807
- Joined: Fri Apr 01, 2005 6:05 pm
Re: What are realize_ functions?
Those functions ensure that the named computations have been performed at the current state. For example,
realizePosition() ensures that body poses are available (that is, position kinematics calculations have been performed mapping the state variables to Cartesian locations and orientations). "Dynamics" here means force calculations, and "Report" means everything is calculated (so you can "report" the results).
Each of these takes the state as input so none are necessary if all you want to do is store the state.
Regards,
Sherm
realizePosition() ensures that body poses are available (that is, position kinematics calculations have been performed mapping the state variables to Cartesian locations and orientations). "Dynamics" here means force calculations, and "Report" means everything is calculated (so you can "report" the results).
Each of these takes the state as input so none are necessary if all you want to do is store the state.
Regards,
Sherm