DUNE: Uniform Navigational Environment
2016.09.0
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Force properties.
This is the base class for engine and fin subclasses.
Public Member Functions | |
Force (void) | |
virtual | ~Force (void) |
void | setForce (double, double, double, bool, bool) |
void | setPosition (double, double, double, bool) |
bool | isInertial (void) |
bool | isTorque (void) |
bool | isPosInertial (void) |
virtual void | applyForce (double speed, double forces[6]) |
virtual bool | checkId (unsigned int testid) |
virtual void | updateAct (double value) |
virtual double | getActuation (void) |
Protected Attributes | |
double | m_max_force [3] |
double | m_act_position [3] |
Simulators::VSIM::Force::Force | ( | void | ) |
Constructor.
References m_act_position, and m_max_force.
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inlinevirtual |
Destructor.
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virtual |
Apply this force to body with id ident.
[in] | speed | speed reference. |
[out] | forces | forces to be applied to body. |
Reimplemented in Simulators::VSIM::Engine, and Simulators::VSIM::Fin.
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virtual |
Check force's id.
[in] | testid | force id. |
Reimplemented in Simulators::VSIM::Engine, and Simulators::VSIM::Fin.
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virtual |
Retrieve current force actuation value.
Reimplemented in Simulators::VSIM::Engine.
bool Simulators::VSIM::Force::isInertial | ( | void | ) |
Is force in inertial referencial.
bool Simulators::VSIM::Force::isPosInertial | ( | void | ) |
Is position in inertial referencial.
bool Simulators::VSIM::Force::isTorque | ( | void | ) |
Is a torque.
void Simulators::VSIM::Force::setForce | ( | double | x, |
double | y, | ||
double | z, | ||
bool | is_inertial, | ||
bool | is_torque | ||
) |
Defines force vector.
[in] | x | force along x-axis. |
[in] | y | force along y-axis. |
[in] | z | force along z-axis. |
[in] | is_inertial | if force is in inertial referencial. |
[in] | is_torque | if force is a torque force. |
References m_max_force.
void Simulators::VSIM::Force::setPosition | ( | double | x, |
double | y, | ||
double | z, | ||
bool | is_inertial | ||
) |
Sets position vector.
[in] | x | position of the force in the x-axis. |
[in] | y | position of the force in the y-axis. |
[in] | z | position of the force in the z-axis. |
[in] | is_inertial | if position is in inertial referencial. |
References m_act_position.
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virtual |
Update force's actuation.
[in] | value | force actuation value. |
Reimplemented in Simulators::VSIM::Engine, and Simulators::VSIM::Fin.
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protected |
Force application position.
Referenced by Force(), and setPosition().
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protected |
Max force.
Referenced by Force(), and setForce().