AngularMotor1Axis Class Reference

#include <angularmotor.h>

Inheritance diagram for AngularMotor1Axis:

[legend]Collaboration diagram for AngularMotor1Axis:

[legend]List of all members.

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Detailed Description

Angular motor for OneAxisJoints.

Definition at line 94 of file angularmotor.h.

Public Member Functions
	AngularMotor1Axis (const OdeHandle &odeHandle, OneAxisJoint *joint, double power)
	Constuct a motor attached to a OneAxisJoint.
virtual	~AngularMotor1Axis ()
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
Protected Attributes
OneAxisJoint *	joint

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Constructor & Destructor Documentation

AngularMotor1Axis (  const OdeHandle &  odeHandle, OneAxisJoint *  joint, double  power )

Constuct a motor attached to a OneAxisJoint. It will its axis of course. Parameters: 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. Definition at line 88 of file angularmotor.cpp.

virtual ~AngularMotor1Axis (   )  [inline, virtual]

Definition at line 102 of file angularmotor.h.

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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 Parameters: axisNumber  is ignored because have only one axis Implements AngularMotor. Definition at line 109 of file angularmotor.cpp.

virtual int getNumberOfAxes (   )  [inline, virtual]

returns the number of Axis of this Motor Implements AngularMotor. Definition at line 105 of file angularmotor.h.

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

sets the desired speed of the motor at the given axis. Parameters: axisNumber  is ignored because have only one axis velocity  Desired motor velocity (this will be an angular or linear velocity). Implements AngularMotor. Definition at line 102 of file angularmotor.cpp.

void setPower (  double  power  )  [virtual]

sets the maximal force the motor has Implements AngularMotor. Definition at line 115 of file angularmotor.cpp.

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Member Data Documentation

OneAxisJoint* joint [protected]

Definition at line 122 of file angularmotor.h.

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