Inheritance diagram for PhyDOF:

Public Types
enum	MotionMode { force, vel, pos, off }
	Type that encode the current modality of motion (off means motor switched off) More...

Public Slots
void	applyForce (real newforce)
	Apply a Force to the object linked by this DOF. More...

Signals
void	appliedForce (real newforce)
	emitted when a Force/Torque is applied More...

void	changedDesiredPosition (real wishpos)
	emitted when the Desired Position changes More...

void	changedDesiredVelocity (real wishvel)
	emitted when the Desired Velocity changes More...

void	changedLimits (real lowlimit, real highlimit)
	emitted when limits changes More...

void	changedPosition (real newpos)
	emitted when position changes More...

void	changedStiffness (real newstiff)
	emitted when stiffness changes More...

void	changedVelocity (real newvel)
	emitted when velocity changes More...

Public Member Functions
	PhyDOF (PhyJoint *parent, wVector axis, wVector centre, bool translate=false)
	constructor (it's used by PhyJoint subclasses) More...

real	appliedForce () const
	Return the Force/Torque applied using applyForce. More...

wVector	axis () const
	return the axis of rotation/translation More...

wVector	centre () const
	return the centre of rotation/translation More...

real	desiredPosition () const
	Return the desired position setted. More...

real	desiredVelocity () const
	Return the desired position setted. More...

void	disableLimits ()
	enable limits More...

void	enableLimits ()
	enable limits More...

bool	isLimited () const
	return true if rotation/translation are limited More...

PhyJoint *	joint ()
	return the PhyJoint More...

const PhyJoint *	joint () const
	return the PhyJoint (const version) More...

void	limits (real &lo, real &hi) const
	return the limits More...

real	maxForce () const
	returns the maximum force/torque. More...

real	maxVelocity () const
	return the maximum velocity (rad/sec) More...

MotionMode	motion () const
	return the actual motion mode More...

real	position () const
	return the actual position of bodies For rotational DOF is the angle of rotation For linear DOF is the offset from the centre More...

bool	rotate () const
	return true if it rotate around axis More...

void	setAxis (const wVector &ax)

void	setCentre (const wVector &cent)

void	setDesiredPosition (real wishpos)
	Move the DOF at the position passed and try to stay there. More...

void	setDesiredVelocity (real wishvel)
	Accelerate the DOF to the velocity passed and try to stay at that velocity. More...

void	setLimits (real lowlimit, real highlimit)
	Set limits of this DOF The meaning of parameters changes depending if it's a rotational or translation DOF. More...

void	setMaxForce (real maxforce)
	sets the maximum force/torque applied by the joint. More...

void	setMaxVelocity (real maxvel)
	set the maximum velocity for the joint (rad/sec) More...

void	setMotionMode (enum MotionMode m)
	change the modality of motion More...

void	setPosition (real newpos)

void	setStiffness (real newstiff)
	set the stiffness about this DOF More...

void	setVelocity (real newvel)

void	setXAxis (const wVector &x_ax)

void	setYAxis (const wVector &y_ax)

real	stiffness () const
	return the stiffness More...

void	switchOff ()
	Switches the motor off. More...

bool	translate () const
	return true if it translate along axis More...

real	velocity () const
	return the actual relative velocity of bodies along the axis of rotation/translation More...

wVector	xAxis () const
	return the X axis of local DOF frame, this is the zero angle position More...

wVector	yAxis () const
	return the Y axis of local DOF frame More...

Detailed Description

PhyDOF class.

\

Motivation: describe a DOF

Description: Details

Warnings: Warnings

Definition at line 50 of file phyjoint.h.

Member Enumeration Documentation

enum MotionMode

Type that encode the current modality of motion (off means motor switched off)

Definition at line 54 of file phyjoint.h.

Constructor & Destructor Documentation

PhyDOF	(	PhyJoint *	parent,
		wVector	axis,
		wVector	centre,
		bool	translate = `false`
	)

inline

constructor (it's used by PhyJoint subclasses)

Parameters

axis	is the main axis of translation/rotation
centre	is the centre of translation/rotation frame
translate	true mean that it is a linear DOF, otherwise is an rotational DOF

Definition at line 61 of file phyjoint.h.

Member Function Documentation

real appliedForce ( ) const

inline

Return the Force/Torque applied using applyForce.

Definition at line 98 of file phyjoint.h.

void appliedForce ( real newforce )

signal

emitted when a Force/Torque is applied

void applyForce ( real newforce )

inlineslot

Apply a Force to the object linked by this DOF.

For prismatic DOF this means that the force will be applied to both bodies in opposite direction along axis of DOF

For rotational DOF the force will be intepreted as a torque applied around the axis of the DOF.

Definition at line 252 of file phyjoint.h.

wVector axis ( ) const

inline

return the axis of rotation/translation

Definition at line 193 of file phyjoint.h.

wVector centre ( ) const

inline

return the centre of rotation/translation

Definition at line 123 of file phyjoint.h.

void changedDesiredPosition ( real wishpos )

signal

emitted when the Desired Position changes

void changedDesiredVelocity ( real wishvel )

signal

emitted when the Desired Velocity changes

void changedLimits	(	real	lowlimit,
		real	highlimit
	)

signal

emitted when limits changes

void changedPosition ( real newpos )

signal

emitted when position changes

void changedStiffness ( real newstiff )

signal

emitted when stiffness changes

void changedVelocity ( real newvel )

signal

emitted when velocity changes

real desiredPosition ( ) const

inline

Return the desired position setted.

Definition at line 103 of file phyjoint.h.

real desiredVelocity ( ) const

inline

Return the desired position setted.

Definition at line 108 of file phyjoint.h.

void disableLimits ( )

inline

enable limits

Definition at line 240 of file phyjoint.h.

void enableLimits ( )

inline

enable limits

Definition at line 235 of file phyjoint.h.

bool isLimited ( ) const

inline

return true if rotation/translation are limited

Definition at line 230 of file phyjoint.h.

PhyJoint* joint ( )

inline

return the PhyJoint

Definition at line 88 of file phyjoint.h.

const PhyJoint* joint ( ) const

inline

return the PhyJoint (const version)

Definition at line 93 of file phyjoint.h.

void limits	(	real &	lo,
		real &	hi
	)		const

inline

return the limits

Definition at line 155 of file phyjoint.h.

real maxForce ( ) const

inline

returns the maximum force/torque.

A negative value means no limit

Definition at line 188 of file phyjoint.h.

real maxVelocity ( ) const

inline

return the maximum velocity (rad/sec)

Definition at line 178 of file phyjoint.h.

MotionMode motion ( ) const

inline

return the actual motion mode

Definition at line 113 of file phyjoint.h.

real position ( ) const

inline

return the actual position of bodies For rotational DOF is the angle of rotation
For linear DOF is the offset from the centre

Definition at line 135 of file phyjoint.h.

Referenced by PhySlider::updateJointInfo(), PhySuspension::updateJointInfo(), and PhyHinge::updateJointInfo().

bool rotate ( ) const

inline

return true if it rotate around axis

Definition at line 225 of file phyjoint.h.

void setDesiredPosition ( real wishpos )

inline

Move the DOF at the position passed and try to stay there.

Warning: it doesn't check for DOF limits

Definition at line 261 of file phyjoint.h.

References farsa::ramp().

void setDesiredVelocity ( real wishvel )

inline

Accelerate the DOF to the velocity passed and try to stay at that velocity.

Warning: it doesn't check for DOF limits

Definition at line 273 of file phyjoint.h.

void setLimits	(	real	lowlimit,
		real	highlimit
	)

inline

Set limits of this DOF The meaning of parameters changes depending if it's a rotational or translation DOF.

Warning: Low-Limit must be greater that -pi and High-Limit must be lesser that pi. Only when the library is compiled in debug, it will checks for correct settings of these parameters.

Definition at line 285 of file phyjoint.h.

References farsa::ramp().

void setMaxForce ( real maxforce )

inline

sets the maximum force/torque applied by the joint.

A negative value means no limit

Definition at line 183 of file phyjoint.h.

void setMaxVelocity ( real maxvel )

inline

set the maximum velocity for the joint (rad/sec)

Definition at line 173 of file phyjoint.h.

void setMotionMode ( enum MotionMode m )

inline

change the modality of motion

Definition at line 118 of file phyjoint.h.

void setStiffness ( real newstiff )

inline

set the stiffness about this DOF

Definition at line 166 of file phyjoint.h.

References farsa::ramp().

real stiffness ( ) const

inline

return the stiffness

Definition at line 161 of file phyjoint.h.

void switchOff ( )

inline

Switches the motor off.

Definition at line 83 of file phyjoint.h.

bool translate ( ) const

inline

return true if it translate along axis

Definition at line 220 of file phyjoint.h.

real velocity ( ) const

inline

return the actual relative velocity of bodies along the axis of rotation/translation

Definition at line 145 of file phyjoint.h.

wVector xAxis ( ) const

inline

return the X axis of local DOF frame, this is the zero angle position

Definition at line 202 of file phyjoint.h.

wVector yAxis ( ) const

inline

return the Y axis of local DOF frame

Definition at line 211 of file phyjoint.h.

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

worldsim/include/phyjoint.h

WorldSim - 1.4.5

Public Types

Public Slots

Signals

Public Member Functions

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation