class dynoInfluence

An abstract base class for objects that apply forces/torques to mechanisms at each simulation time step, eg.

Inheritance:

Public Methods

virtual int apply(void) = 0

applies forces/torques to mechanism(s); should be supplied by subclasses

Inherited from dynoObject:

Public Fields

dynamicSystem* ds

int active

int stateSize

Public Methods

inline virtual int getState(double* state)

inline virtual int setState(const double* state)

inline virtual int reset(void)

Inherited from synObject:

Public Fields

static int staticClassID

int objectID

int verboseLevel

Public Methods

virtual const char* className(void) const

virtual synObject* copy(void) const

virtual int isOfType(int typeNum, int derivedOk)

static int setStaticClassID(void)

virtual int classID(void) const

Documentation

An abstract base class for objects that apply forces/torques to mechanisms at each simulation time step, eg. a spring or gravity field. Influences can apply their forces through link::applyForce(), by adding or subtracting to mech->T, or by directly modifying link::Fext and link::Next. dynoInfluence::update is a virtual function that should be supplied by derived classes, and is called by dynamicSystem::computeAccelerationFromTorque each time step, after the force accumulators (i.e. mech->T and link::Fext/Next) have been zeroed.

A dynamicSystem must be supplied to the constructor, and the influence will be automatically deleted by the dynamicSystem when the dynamicSystem is deleted. To enforce this, the destructor is a protected method, so influences cannot be created except by the new operator.

virtual int apply(void) = 0

applies forces/torques to mechanism(s); should be supplied by subclasses

Direct child classes:

uniformField
dofInfluence
dofDampedSpring
dampedSpring
compliantContactForce
balloonContactInfluence

Friends:

dynamicSystem

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