#include <angularmotor.h>
Inherited by AngularMotor1Axis, AngularMotor2Axis, AngularMotor3AxisEuler, and AngularMotorNAxis.
Inheritance diagram for AngularMotor:
Public Member Functions | |
AngularMotor (const OdeHandle &odeHandle, Joint *joint) | |
creates a AMotor attached to the same bodies as the given joint. | |
virtual | ~AngularMotor () |
virtual int | getNumberOfAxes ()=0 |
returns the number of Axis of this Motor | |
virtual void | set (int axisNumber, double velocity)=0 |
sets the desired speed of the motor at the given axis. | |
virtual double | get (int axisNumber)=0 |
returns the speed (PositionRate) at the given axis, or zero if the axis is out of range | |
virtual void | setPower (double power)=0 |
sets the maximal force the motor has | |
virtual int | set (const double *velocities, int len) |
sets the desired speed of all motor. | |
virtual int | get (double *velocities, int len) |
returns the speed (PositionRate) of all axis | |
virtual Joint * | getJoint ()=0 |
returns the joint to which this motor is attached | |
virtual void | setParam (int parameter, double value) |
sets the parameters of the motor | |
virtual double | getParam (int parameter) |
gets the parameters of the motor | |
Protected Attributes | |
dJointID | motor |
This is a wrapper for ODE's AMotor.
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creates a AMotor attached to the same bodies as the given joint.
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returns the speed (PositionRate) of all axis
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returns the speed (PositionRate) at the given axis, or zero if the axis is out of range
Implemented in AngularMotor1Axis, AngularMotor2Axis, AngularMotor3AxisEuler, and AngularMotorNAxis.
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returns the joint to which this motor is attached
Implemented in AngularMotor1Axis, AngularMotor2Axis, AngularMotor3AxisEuler, and AngularMotorNAxis.
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returns the number of Axis of this Motor
Implemented in AngularMotor1Axis, AngularMotor2Axis, AngularMotor3AxisEuler, and AngularMotorNAxis.
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gets the parameters of the motor
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sets the desired speed of all motor.
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sets the desired speed of the motor at the given axis.
Implemented in AngularMotor1Axis, AngularMotor2Axis, AngularMotor3AxisEuler, and AngularMotorNAxis.
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sets the parameters of the motor
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sets the maximal force the motor has
Implemented in AngularMotor1Axis, AngularMotor2Axis, AngularMotor3AxisEuler, and AngularMotorNAxis.
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