AngularMotor Class Reference

Abstract angular motor class. More...

#include <angularmotor.h>

Inherited by AngularMotor1Axis, AngularMotor2Axis, AngularMotor3AxisEuler, and AngularMotorNAxis.

Inheritance diagram for AngularMotor:

[legend]List of all members.

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 double	getPower ()
	return the maximal force
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

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Detailed Description

Abstract angular motor class.

This is a wrapper for ODE's AMotor.

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Constructor & Destructor Documentation

AngularMotor	(	const OdeHandle &	odeHandle,
		Joint *	joint
	)

creates a AMotor attached to the same bodies as the given joint.

~AngularMotor

(

)

[virtual]

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Member Function Documentation

int get	(	double *	velocities,
		int	len
	)			[virtual]

returns the speed (PositionRate) of all axis

Parameters:

	velocities	double array to fill in the velocities
	len	length of the given array

Returns:

number actually returned velocities

virtual double get

(

int

axisNumber

)

[pure virtual]

returns the speed (PositionRate) at the given axis, or zero if the axis is out of range

Implemented in AngularMotor1Axis, AngularMotor2Axis, AngularMotor3AxisEuler, and AngularMotorNAxis.

virtual Joint* getJoint

(

)

[pure virtual]

returns the joint to which this motor is attached

Implemented in AngularMotor1Axis, AngularMotor2Axis, AngularMotor3AxisEuler, and AngularMotorNAxis.

virtual int getNumberOfAxes

(

)

[pure virtual]

returns the number of Axis of this Motor

Implemented in AngularMotor1Axis, AngularMotor2Axis, AngularMotor3AxisEuler, and AngularMotorNAxis.

double getParam

(

int

parameter

)

[virtual]

gets the parameters of the motor

double getPower

(

)

[virtual]

return the maximal force

int set	(	const double *	velocities,
		int	len
	)			[virtual]

sets the desired speed of all motor.

Parameters:

	velocities	double array with desired velocities
	len	length of the given array

Returns:

number actually returned velocities

virtual void set	(	int	axisNumber,
		double	velocity
	)			[pure virtual]

sets the desired speed of the motor at the given axis.

Parameters:

velocity

Desired motor velocity (this will be an angular or linear velocity).

Implemented in AngularMotor1Axis, AngularMotor2Axis, AngularMotor3AxisEuler, and AngularMotorNAxis.

void setParam	(	int	parameter,
		double	value
	)			[virtual]

sets the parameters of the motor

virtual void setPower

(

double

power

)

[pure virtual]

sets the maximal force the motor has

Implemented in AngularMotor1Axis, AngularMotor2Axis, AngularMotor3AxisEuler, and AngularMotorNAxis.

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Member Data Documentation

dJointID motor [protected]

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

• angularmotor.h
• angularmotor.cpp

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