class dynoComponent

base class for objects that must get updated at every simulation time step.

Inheritance:

Public Fields

int applyAfterAccel

indicates whether update() should be called at the end of dynamicSystem::computeAccelerationFromTorque() instead of in dynamicSystem::updateComponents.

Public Methods

virtual int update(int &violated, int shortCircuit) = 0

a virtual method called after every simulation time step.

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

base class for objects that must get updated at every simulation time step. If applyAfterAccel is set, then the component's update() method is called at the end of dynamicSystem::computeAccelerationFromTorque() instead of in updateComponents(). applyAfterAccel should normally be 0.

int applyAfterAccel

indicates whether update() should be called at the end of dynamicSystem::computeAccelerationFromTorque() instead of in dynamicSystem::updateComponents. This should be 0 for most components.

virtual int update(int &violated, int shortCircuit) = 0

a virtual method called after every simulation time step. Derived classes should override this method and observe the following API: - If a violation occurs and the simulation should be backed up to an earlier state, violated should be set to -1. violated should be set to 0 if there are no violated states defined for the component, or if the component is on the edge of a violated state. Otherwise, violated should be set to 1 to indicate that violated states exist for the component, but that the system is not currenly on the edge of a violation.

Direct child classes:

dynoContactor
postAccelHook

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