class dofInfluence

Adds forces/torques to a mechanism's T vector The dofInfluence acts on a mechanism in joint space, rather than cartesian space.

Inheritance:

Public Fields

mechanism* mech

the mechanism

vector* Tcmd

a pointer to the vector containing the current torque command

Public Methods

dofInfluence(void)

constructor.

dofInfluence(mechanism* M, vector* tcmd)

constructor

int apply(void)

adds *Tcmd to mech->T

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

Adds forces/torques to a mechanism's T vector The dofInfluence acts on a mechanism in joint space, rather than cartesian space. a pointer to a vector Tcmd tells the dofInfluence where to get the forces to apply. This vector must have the same size as the mechanism's T vector, i.e. the # DOFs of the mechanism. This class, along with the dynoTimer, provide convenient hooks for controller classes in user libraries.

mechanism* mech

the mechanism

vector* Tcmd

a pointer to the vector containing the current torque command

dofInfluence(void)

constructor. mech and Tcmd must be set later

dofInfluence(mechanism* M, vector* tcmd)

constructor

int apply(void)

adds *Tcmd to mech->T

This class has no child classes.

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