AngularMotor Class Reference

#include <angularmotor.h>

Inheritance diagram for AngularMotor:

[legend]List of all members.

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Detailed Description

Abstract angular motor class.

This is a wrapper for ODE's AMotor.

Definition at line 53 of file angularmotor.h.

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
Protected Attributes
dJointID	motor

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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. Definition at line 48 of file angularmotor.cpp.

virtual ~AngularMotor (   )  [inline, virtual]

Definition at line 58 of file angularmotor.h.

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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 Definition at line 73 of file angularmotor.cpp.

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 int getNumberOfAxes (   )  [pure virtual]

returns the number of Axis of this Motor Implemented in AngularMotor1Axis, AngularMotor2Axis, AngularMotor3AxisEuler, and AngularMotorNAxis.

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 Definition at line 60 of file angularmotor.cpp.

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.

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]

Definition at line 89 of file angularmotor.h.

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