# KinematicState Class Reference

Related Scripting Object: KinematicState

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

`#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)

## 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() );

## 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.

## 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

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

- xsi_kinematicstate.h