opal::VelocityMotor Class Reference

#include <VelocityMotor.h>

Inheritance diagram for opal::VelocityMotor:

List of all members.

Public Member Functions
	VelocityMotor (Simulator *sim)
virtual	~VelocityMotor ()
virtual void OPAL_CALL	init (const VelocityMotorData &data)
virtual void OPAL_CALL	setEnabled (bool e)
virtual bool OPAL_CALL	isEnabled () const
virtual MotorType OPAL_CALL	getType () const
virtual void OPAL_CALL	setName (const std::string &name)
virtual const std::string &OPAL_CALL	getName () const
virtual void OPAL_CALL	setVelocity (const Vec3r &velocity)
virtual const Vec3r &OPAL_CALL	getVelocity () const
virtual void OPAL_CALL	internal_update ()
virtual bool OPAL_CALL	internal_dependsOnSolid (Solid *s) const
virtual void OPAL_CALL	letGravityAffectSolid (bool affect)
virtual bool OPAL_CALL	doesGravityAffectSolid () const
virtual void OPAL_CALL	setMaximumForce (real maxForce)
virtual real OPAL_CALL	getMaximumForce () const
Protected Attributes
VelocityMotorData	mData
Private Attributes
Simulator *	mSimulator

---

Detailed Description

Tries to achieve given velocity in one time step of the simulation.

Author:

Oleksandr Lozitskiy

Definition at line 49 of file VelocityMotor.h.

---

Constructor & Destructor Documentation

opal::VelocityMotor::VelocityMotor (  Simulator *  sim  )

constructor Parameters: sim  physical simulator Definition at line 37 of file VelocityMotor.cpp. References mSimulator.

opal::VelocityMotor::~VelocityMotor (   )  [virtual]

destructor Definition at line 42 of file VelocityMotor.cpp.

---

Member Function Documentation

bool opal::VelocityMotor::doesGravityAffectSolid (   )  const [virtual]

Returns true if gravity is being ignored by the motor. Definition at line 103 of file VelocityMotor.cpp. References opal::VelocityMotorData::letGravityAffectSolid, and mData. Referenced by internal_update().

real opal::VelocityMotor::getMaximumForce (   )  const [virtual]

What is the maximum allowed force for this motor? Definition at line 154 of file VelocityMotor.cpp. References opal::VelocityMotorData::maxForce, and mData.

const std::string & opal::VelocityMotor::getName (   )  const [virtual]

Returns the Motor's name. Implements opal::Motor. Definition at line 85 of file VelocityMotor.cpp. References mData, and opal::MotorData::name.

MotorType opal::VelocityMotor::getType (   )  const [virtual]

Returns the Motor type. Implements opal::Motor. Definition at line 75 of file VelocityMotor.cpp. References opal::VELOCITY_MOTOR.

const Vec3r & opal::VelocityMotor::getVelocity (   )  const [virtual]

Return target velocity. Definition at line 50 of file VelocityMotor.cpp. References mData, and opal::VelocityMotorData::velocity.

void opal::VelocityMotor::init (  const VelocityMotorData &  data  )  [virtual]

Initializes the Motor with the given data structure. Definition at line 55 of file VelocityMotor.cpp. References opal::Motor::init(), mData, opal::Solid::setLinearDamping(), and opal::VelocityMotorData::solid.

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

Returns true if motors controls this solid. Definition at line 90 of file VelocityMotor.cpp. References mData, and opal::VelocityMotorData::solid.

void opal::VelocityMotor::internal_update (   )  [virtual]

Called regularly to update the Motor. This does nothing if the Motor is disabled. Implements opal::Motor. Definition at line 108 of file VelocityMotor.cpp. References doesGravityAffectSolid(), opal::Solid::getGlobalLinearVel(), opal::Simulator::getGravity(), opal::defaults::gravity, isEnabled(), opal::Vec3r::length(), mData, mSimulator, opal::project(), opal::VelocityMotorData::solid, and opal::VelocityMotorData::velocity.

bool opal::VelocityMotor::isEnabled (   )  const [virtual]

Returns true if the Motor is enabled. Implements opal::Motor. Definition at line 70 of file VelocityMotor.cpp. References opal::MotorData::enabled, and mData. Referenced by internal_update().

void opal::VelocityMotor::letGravityAffectSolid (  bool  affect  )  [virtual]

against gravity or not? Parameters: affect  if true, motor will NOT work against gravity, so solid will be affected by gravity Definition at line 98 of file VelocityMotor.cpp. References opal::VelocityMotorData::letGravityAffectSolid, and mData.

void opal::VelocityMotor::setEnabled (  bool  e  )  [virtual]

Sets whether the Motor has any effect. Implements opal::Motor. Definition at line 65 of file VelocityMotor.cpp. References opal::MotorData::enabled, and mData.

void opal::VelocityMotor::setMaximumForce (  real  maxForce  )  [virtual]

Maximum allowed force for the motor to use. Definition at line 149 of file VelocityMotor.cpp. References opal::VelocityMotorData::maxForce, and mData.

void opal::VelocityMotor::setName (  const std::string &  name  )  [virtual]

Sets the Motor's name. Implements opal::Motor. Definition at line 80 of file VelocityMotor.cpp. References mData, and opal::MotorData::name.

void opal::VelocityMotor::setVelocity (  const Vec3r &  velocity  )  [virtual]

Set target velocity. Definition at line 45 of file VelocityMotor.cpp. References mData, and opal::VelocityMotorData::velocity.

---

Member Data Documentation

VelocityMotorData opal::VelocityMotor::mData [protected]

Stores data describing the Motor. Definition at line 110 of file VelocityMotor.h. Referenced by doesGravityAffectSolid(), getMaximumForce(), getName(), getVelocity(), init(), internal_dependsOnSolid(), internal_update(), isEnabled(), letGravityAffectSolid(), setEnabled(), setMaximumForce(), setName(), and setVelocity().

Simulator* opal::VelocityMotor::mSimulator [private]

Definition at line 113 of file VelocityMotor.h. Referenced by internal_update(), and VelocityMotor().

---

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

• VelocityMotor.h
• VelocityMotor.cpp

---