opal::Motor Class Reference

#include <Motor.h>

Inheritance diagram for opal::Motor:

List of all members.

Public Member Functions
	Motor ()
virtual void OPAL_CALL	setEnabled (bool e)=0
virtual bool OPAL_CALL	isEnabled () const =0
virtual void OPAL_CALL	setUserData (void *data)
virtual void *OPAL_CALL	getUserData ()
virtual MotorType OPAL_CALL	getType () const =0
virtual void OPAL_CALL	setName (const std::string &name)=0
virtual const std::string &OPAL_CALL	getName () const =0
virtual void OPAL_CALL	internal_update ()=0
virtual bool OPAL_CALL	internal_dependsOnSolid (Solid *s)
virtual bool OPAL_CALL	internal_dependsOnJoint (Joint *j)
virtual void OPAL_CALL	internal_destroy ()
Protected Member Functions
virtual	~Motor ()
void	init ()
Protected Attributes
void *	mUserData
bool	mInitCalled

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Detailed Description

A device that can be attached to Solids and/or Joints to affect them in a variety of ways. The point of Motors is to give users high-level systems for controlling various parts of the simulation. For example, instead of manually applying Forces to a robot arm to attain a desired state, users should use a Motor that takes a desired position or velocity, automatically applying forces every time step to attain that state. Most Motors remain ineffective until they are initialized.

Definition at line 47 of file Motor.h.

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Constructor & Destructor Documentation

opal::Motor::Motor (   )

Definition at line 32 of file Motor.cpp. References mInitCalled, and setUserData().

opal::Motor::~Motor (   )  [protected, virtual]

Definition at line 39 of file Motor.cpp.

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Member Function Documentation

virtual const std::string& OPAL_CALL opal::Motor::getName (   )  const [pure virtual]

Returns the Motor's name. Implemented in opal::AttractorMotor, opal::GearedMotor, opal::ServoMotor, opal::SpringMotor, opal::ThrusterMotor, and opal::VelocityMotor. Referenced by opal::BlueprintInstance::internal_addMotor().

virtual MotorType OPAL_CALL opal::Motor::getType (   )  const [pure virtual]

Returns the Motor type. Implemented in opal::AttractorMotor, opal::GearedMotor, opal::ServoMotor, opal::SpringMotor, opal::ThrusterMotor, and opal::VelocityMotor.

void * opal::Motor::getUserData (   )  [virtual]

Returns the user data pointer (NULL if it has not been set). Definition at line 58 of file Motor.cpp. References mUserData.

void opal::Motor::init (   )  [protected]

Called by subclasses when they are initialized. Definition at line 48 of file Motor.cpp. References mInitCalled. Referenced by opal::VelocityMotor::init(), opal::ThrusterMotor::init(), opal::SpringMotor::init(), opal::ServoMotor::init(), opal::GearedMotor::init(), and opal::AttractorMotor::init().

bool opal::Motor::internal_dependsOnJoint (  Joint *  j  )  [virtual]

Returns true if this Motor depends on the given Joint. Reimplemented in opal::GearedMotor, and opal::ServoMotor. Definition at line 68 of file Motor.cpp.

bool opal::Motor::internal_dependsOnSolid (  Solid *  s  )  [virtual]

Returns true if this Motor depends on the given Solid. Reimplemented in opal::AttractorMotor, opal::SpringMotor, and opal::ThrusterMotor. Definition at line 63 of file Motor.cpp.

void opal::Motor::internal_destroy (   )  [virtual]

Internal function used to destroy this object. Sets whether this is a custom Motor. Used internally to track custom Motors which must not be destroyed by OPAL. Definition at line 43 of file Motor.cpp. Referenced by opal::Simulator::removeMotor().

virtual void OPAL_CALL opal::Motor::internal_update (   )  [pure virtual]

Called regularly to update the Motor. This does nothing if the Motor is disabled. Implemented in opal::AttractorMotor, opal::GearedMotor, opal::ServoMotor, opal::SpringMotor, opal::ThrusterMotor, and opal::VelocityMotor.

virtual bool OPAL_CALL opal::Motor::isEnabled (   )  const [pure virtual]

Returns true if the Motor is enabled. Implemented in opal::AttractorMotor, opal::GearedMotor, opal::ServoMotor, opal::SpringMotor, opal::ThrusterMotor, and opal::VelocityMotor.

virtual void OPAL_CALL opal::Motor::setEnabled (  bool  e  )  [pure virtual]

Sets whether the Motor has any effect. Implemented in opal::AttractorMotor, opal::GearedMotor, opal::ServoMotor, opal::SpringMotor, opal::ThrusterMotor, and opal::VelocityMotor.

virtual void OPAL_CALL opal::Motor::setName (  const std::string &  name  )  [pure virtual]

Sets the Motor's name. Implemented in opal::AttractorMotor, opal::GearedMotor, opal::ServoMotor, opal::SpringMotor, opal::ThrusterMotor, and opal::VelocityMotor.

void opal::Motor::setUserData (  void *  data  )  [virtual]

Set the user data pointer to some external data. The user data is totally user-managed (i.e. it is not destroyed when the Motor is destroyed). Definition at line 53 of file Motor.cpp. References mUserData. Referenced by Motor().

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Member Data Documentation

bool opal::Motor::mInitCalled [protected]

True if the Motor has been initialized. Some Motors use this to take special actions when a Motor is reinitialized. Definition at line 111 of file Motor.h. Referenced by opal::ServoMotor::init(), init(), and Motor().

void* opal::Motor::mUserData [protected]

Pointer to user data. This is totally user-managed (i.e. OPAL will never delete it). Definition at line 103 of file Motor.h. Referenced by getUserData(), and setUserData().

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

• Motor.h
• Motor.cpp

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