AngularMotor3AxisEuler Class Reference

Angular motor for Ball Joints with Euler control. More...

#include <angularmotor.h>

Inherits AngularMotor.

Inheritance diagram for AngularMotor3AxisEuler:

[legend]Collaboration diagram for AngularMotor3AxisEuler:

[legend]List of all members.

Public Member Functions
	AngularMotor3AxisEuler (const OdeHandle &odeHandle, BallJoint *joint, const Axis &axis1, const Axis &axis3, double power)
	Constuct a motor attached to a BallJoint.
virtual int	getNumberOfAxes ()
	returns the number of Axis of this Motor
virtual void	set (int axisNumber, double velocity)
	sets the desired speed of the motor at the given axis.
virtual double	get (int axisNumber)
	returns the speed (PositionRate) at the given axis, or zero if the axis is out of range
virtual void	setPower (double power)
	sets the maximal force the motor has
virtual Joint *	getJoint ()
	returns the joint to which this motor is attached
Protected Attributes
BallJoint *	joint

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Detailed Description

Angular motor for Ball Joints with Euler control.

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Constructor & Destructor Documentation

AngularMotor3AxisEuler	(	const OdeHandle &	odeHandle,
		BallJoint *	joint,
		const Axis &	axis1,
		const Axis &	axis3,
		double	power
	)

Constuct a motor attached to a BallJoint.

Parameters:

	axis1	axis relative to body 1
	axis3	axis relative to body 2 (must be perpendicular to axis1 (the axis 2 is calculated automatically)
	power	The maximum force or torque that the motor will use to achieve the desired velocity. This must always be greater than or equal to zero. Setting this to zero (the default value) turns off the motor.

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Member Function Documentation

double get

(

int

axisNumber

)

[virtual]

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

Implements AngularMotor.

virtual Joint* getJoint

(

)

[inline, virtual]

returns the joint to which this motor is attached

Implements AngularMotor.

virtual int getNumberOfAxes

(

)

[inline, virtual]

returns the number of Axis of this Motor

Implements AngularMotor.

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

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

Parameters:

	axisNumber	either 0 or 1
	velocity	Desired motor velocity (this will be an angular or linear velocity).

Implements AngularMotor.

void setPower

(

double

power

)

[virtual]

sets the maximal force the motor has

Implements AngularMotor.

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Member Data Documentation

BallJoint* joint [protected]

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

• angularmotor.h
• angularmotor.cpp

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