Detailed Description

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]

Constructor & Destructor Documentation

Simulators::VSIM::Force::Force ( void )

Constructor.

References m_act_position, and m_max_force.

virtual Simulators::VSIM::Force::~Force ( void )

inlinevirtual

Destructor.

References applyForce(), checkId(), getActuation(), isInertial(), isPosInertial(), isTorque(), setForce(), setPosition(), and updateAct().

Member Function Documentation

void Simulators::VSIM::Force::applyForce	(	double	speed,
		double	forces[6]
	)

virtual

Apply this force to body with id ident.

Parameters

[in]	speed	speed reference.
[out]	forces	forces to be applied to body.

Reimplemented in Simulators::VSIM::Engine, and Simulators::VSIM::Fin.

Referenced by ~Force().

bool Simulators::VSIM::Force::checkId ( unsigned int testid )

virtual

Check force's id.

Parameters

[in] testid force id.

Returns: true if id matches, false otherwise.

Reimplemented in Simulators::VSIM::Engine, and Simulators::VSIM::Fin.

Referenced by ~Force().

double Simulators::VSIM::Force::getActuation ( void )

virtual

Retrieve current force actuation value.

Returns: force actuation value.

Reimplemented in Simulators::VSIM::Engine.

Referenced by ~Force().

bool Simulators::VSIM::Force::isInertial ( void )

Is force in inertial referencial.

Returns: true if it is, false otherwise.

Referenced by ~Force().

bool Simulators::VSIM::Force::isPosInertial ( void )

Is position in inertial referencial.

Returns: true if it is, false otherwise.

Referenced by ~Force().

bool Simulators::VSIM::Force::isTorque ( void )

Is a torque.

Returns: true if it is, false otherwise.

Referenced by ~Force().

void Simulators::VSIM::Force::setForce	(	double	x,
		double	y,
		double	z,
		bool	is_inertial,
		bool	is_torque
	)

Defines force vector.

Parameters

[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.

Referenced by Simulators::VSIM::Engine::Engine(), Simulators::VSIM::Fin::updateAct(), and ~Force().

void Simulators::VSIM::Force::setPosition	(	double	x,
		double	y,
		double	z,
		bool	is_inertial
	)

Sets position vector.

Parameters

[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.