class locomotorModule

base class for modules specialized for terrain interaction such as wheels and feet.

Inheritance:

Inherited from toolModule:

Public Fields

quaternion q

triple x

quaternion qlink

triple xlink

part* tcpPart

double kp

double kv

ptrList* contactParts

Public Methods

virtual int addContactInfo(dynoContactor* dc, int flags)

virtual int isCompliant(void)

int computeLinkCoords(void)

inline void getWorldCoords(triple &xworld, quaternion &qworld) const

inline triple getWorldPt(void) const

Inherited from module:

Public Fields

static int currentID

static const tmatrix connectionRotation

configuration* cfg

int ref

char* name

bool isPrototype

handedness whichSide

module* parent

assembly* as

ptrList* params

ptrList* attachments

cptrList* components

const componentContext* context

Public Methods

Virtual methods.

convenience functions

inline const ptrList* getDependencies(int whichParam)

Public Members

enum subType

enum handedness

Protected Methods

void assignConnectorIDs(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 modules specialized for terrain interaction such as wheels and feet. Some locomotor modules use non-standard contact types, such as wheelContactInfluences and balloonContactInfluences.

Direct child classes:

wheelModule
footModule

Alphabetic index HTML hierarchy of classes or Java