Re: [Darwin2k-users] Darwin2K Plugin

[Chris L. <cl...@te...>]

Hi,

I'm not aware of such a plugin.  It would be a useful contribution,
though. :)  My advice is to set up a plugin using the
darwin2k-makeplugin script, and derive a class from d2kComponent whose
update() method either prints the numbers you're looking for or updates
a GUI.  If you want to use a GUI to display stuff, then you can
initialize the GUI by overriding either d2kComonent::simInit(), which
gets called once, or d2kComponent::init(), which gets called each time
you begin a new simulation (hmm...I guess the naming scheme is backwards
for these functions!)  The torques, positions, and velocities for each
joint (configuration::getJoint(i)) are members of the joint, and the
acceleration of a joint can be accessed via joint::acc()  (though the
actual acceleration is stored elsewhere).

Chris