vpNDOFJoint Class Reference

arbitrary N DOF joint More...

#include <vpNDOFJoint.h>

Inheritance diagram for vpNDOFJoint:

List of all members.

Public Member Functions
void	SetTransformFunc (TransformNDOF *)
void	SetPosition (int i, const scalar &)
void	SetTorque (int i, const scalar &)
void	AddTorque (int i, const scalar &)
void	SetInitialPosition (int i, const scalar &)
void	SetElasticity (int i, const scalar &)
void	SetDamping (int i, const scalar &)
void	SetUpperLimit (int i, const scalar &)
void	SetLowerLimit (int i, const scalar &)
void	SetRestitution (int i, const scalar &)
scalar	GetPosition (int i) const
scalar	GetVelocity (int i) const
scalar	GetAcceleration (int i) const
scalar	GetTorque (int i) const
scalar	GetInitialPosition (int i) const
const scalar &	GetElasticity (int i) const
const scalar &	GetDamping (int i) const
const scalar &	GetLowerLimit (int i) const
void	DisableUpperLimit (int i)
void	DisableLowerLimit (int i)
bool	IsEnabledUpperLimit (int) const
bool	IsEnabledLowerLimit (int) const
virtual int	GetDOF (void) const
virtual scalar	GetNormalForce (void) const
virtual scalar	GetNormalTorque (void) const

---

Detailed Description

vpNDOFJoint is a class for user defined N DOF joint.

---

Member Function Documentation

VP_INLINE void vpNDOFJoint::SetTransformFunc

(

TransformNDOF *

fun

)

set a transform function

VP_INLINE void vpNDOFJoint::SetPosition	(	int	i,
		const scalar &	x
	)

set a joint value

VP_INLINE void vpNDOFJoint::SetTorque	(	int	i,
		const scalar &	x
	)

set a torque of the joint. The torque will be reset after every simulation step

VP_INLINE void vpNDOFJoint::AddTorque	(	int	i,
		const scalar &	x
	)

add a torque to the joint. The torque will be reset after every simulation step

VP_INLINE void vpNDOFJoint::SetInitialPosition	(	int	i,
		const scalar &	x
	)

set an initial angle of the joint variable.

VP_INLINE void vpNDOFJoint::SetElasticity	(	int	i,
		const scalar &	x
	)

set an elasticity of the joint variable.

VP_INLINE void vpNDOFJoint::SetDamping	(	int	i,
		const scalar &	x
	)

set a damping parameter of the joint variable.

VP_INLINE void vpNDOFJoint::SetUpperLimit	(	int	i,
		const scalar &	x
	)

set an upper joint limit.

VP_INLINE void vpNDOFJoint::SetLowerLimit	(	int	i,
		const scalar &	x
	)

set an upper joint limit.

VP_INLINE void vpNDOFJoint::SetRestitution	(	int	i,
		const scalar &	e
	)

set a restitution.

VP_INLINE scalar vpNDOFJoint::GetPosition

(

int

i

)

const

get an angle of the joint variable.

VP_INLINE scalar vpNDOFJoint::GetVelocity

(

int

i

)

const

get an anglular velocity of the joint variable.

VP_INLINE scalar vpNDOFJoint::GetAcceleration

(

int

i

)

const

get an anglular acceleration of the joint variable.

VP_INLINE scalar vpNDOFJoint::GetTorque

(

int

i

)

const

get a torque of the joint.

VP_INLINE scalar vpNDOFJoint::GetInitialPosition

(

int

i

)

const

get an initial angle of the joint variable.

VP_INLINE const scalar & vpNDOFJoint::GetElasticity

(

int

i

)

const

get an elasticity of the joint variable.

VP_INLINE const scalar & vpNDOFJoint::GetDamping

(

int

i

)

const

get a damping paramter of the joint variable.

const scalar& vpNDOFJoint::GetLowerLimit

(

int

i

)

const

get an lower joint limit.

VP_INLINE void vpNDOFJoint::DisableUpperLimit

(

int

i

)

disable upper joint limit.

VP_INLINE void vpNDOFJoint::DisableLowerLimit

(

int

i

)

disable lower joint limit.

VP_INLINE bool vpNDOFJoint::IsEnabledUpperLimit

(

int

idx

)

const

return whether this joint is set to have upper limit

VP_INLINE bool vpNDOFJoint::IsEnabledLowerLimit

(

int

idx

)

const

return whether this joint is set to have lower limit

VP_INLINE int vpNDOFJoint::GetDOF

(

void

)

const [virtual]

return the degrees of freedom.

Implements vpJoint.

VP_INLINE scalar vpNDOFJoint::GetNormalForce

(

void

)

const [virtual]

get a magnitude of normal force applied to the joint.

Implements vpJoint.

VP_INLINE scalar vpNDOFJoint::GetNormalTorque

(

void

)

const [virtual]

get a magnitude of normal torque applied to the joint.

Implements vpJoint.