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 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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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.

virtual ~AngularMotor

(

)

[inline, 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 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

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]

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

• angularmotor.h
• angularmotor.cpp

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