class dampedSpring

A spring and dash-pot influence.

Inheritance:

Public Fields

double kp

position gain

double kv

velocity gain

double restLength

resting length of spring

link* l1

the first link acted on by the spring

link* l2

the second link acted on by the spring (can be NULL)

part* p1

the part on the first link to which the force is applied (optional)

part* p2

the part on the second link to which the force is applied (optional)

triple bodyPt1

the body point on l1 at which the spring force is applied

triple lastForce

the last force applied by the spring; used when in a singular case

Public Methods

dampedSpring(void)

constructor

dampedSpring(link* L1, const triple &bodyPoint, const triple &worldPt, double restLength = -1, part* P = NULL)

constructor for a spring between a link and fixed world point

dampedSpring(link* L1, const triple &bodyPoint1, link* L2, const triple &bodyPoint2, double restLength = -1, part* P1 = NULL, part* P2 = NULL)

constructor for a spring between points on two links

int apply(void)

applies the spring force

Inherited from dynoInfluence:

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

A spring and dash-pot influence. force = kp*(dist-restLength) - kv*vel

double kp

position gain

double kv

velocity gain

double restLength

resting length of spring

link* l1

the first link acted on by the spring

link* l2

the second link acted on by the spring (can be NULL)

part* p1

the part on the first link to which the force is applied (optional)

part* p2

the part on the second link to which the force is applied (optional)

triple bodyPt1

the body point on l1 at which the spring force is applied

triple lastForce

the last force applied by the spring; used when in a singular case

dampedSpring(void)

constructor

dampedSpring(link* L1, const triple &bodyPoint, const triple &worldPt, double restLength = -1, part* P = NULL)

constructor for a spring between a link and fixed world point

dampedSpring(link* L1, const triple &bodyPoint1, link* L2, const triple &bodyPoint2, double restLength = -1, part* P1 = NULL, part* P2 = NULL)

constructor for a spring between points on two links

int apply(void)

applies the spring force

This class has no child classes.

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