class tetherModule

a module representing a spoolable tether.

Inheritance:

Public Fields

double r

the tether radius.

double l0

the initial length of the tether

double len

the current length of the tether

double lDot

the current velocity of the tether

svScalarResult* lDotDot

an sval for the tether's acceleration

triple anchorPt

the world-space anchor point for the tether

triple bodyPt

the link-space location of the tether's exit location from the reel

triple partPt

the part-space location of the tether's exit location from the reel

joint* reel

the joint to which the tether is slaved

part* reelBase

the part for the base of the reel

tetherConstraint* tc

the tetherConstraint created by the module

Public Methods

virtual int activate(double l)

activates the tether constraint with the specified initial length

virtual int deactivate(void)

deactivates the tether constraint

virtual int setAnchor(const triple &pt, int setLength = 1)

sets the anchor point (and tether length if setLength is 1)

triple getBodyPt(void)

returns the world-space location of the tether's exit location from the reel

triple getTetherDirection(void)

returns a unit vector pointing in the direction of the tether, away from the reel

Inherited from componentJoint:

Public Fields

material mat

rotaryActuator act

gearBox gbx

componentLimits lim

Inherited from jointModule:

Inherited from dofModule:

Public Fields

ptrList joints

Public Methods

virtual double maxVel(joint* jt, int dof) const

virtual double maxTorque(joint* jt, int dof, int isBraking) const

virtual double contTorque(joint* jt, int dof) const

virtual double power(joint* jt, int dof) const

virtual int isPassive(joint* jt, int dof) const

inline int numJoints(void) const

inline joint* getJoint(int i)

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

a module representing a spoolable tether. This module creates a tetherConstraint whose acceleration is tied to the acceleration of the module's single revolute DOF; the scale factor is determined by the reel diameter. Controllers can thus control the tether by controlling the joint's angle, velocity, and acceleration. Parameters:

• 0 - spool motor
• 1 - spool gearhead
• 2 - material
• 3 - reel diameter
• 4 - reel width
• 5 - plate thickness

double r

the tether radius. This is the maximum of parameter 3 and the motor and gearhead diameters.

double l0

the initial length of the tether

double len

the current length of the tether

double lDot

the current velocity of the tether

svScalarResult* lDotDot

an sval for the tether's acceleration

triple anchorPt

the world-space anchor point for the tether

triple bodyPt

the link-space location of the tether's exit location from the reel

triple partPt

the part-space location of the tether's exit location from the reel

joint* reel

the joint to which the tether is slaved

part* reelBase

the part for the base of the reel

tetherConstraint* tc

the tetherConstraint created by the module

virtual int activate(double l)

activates the tether constraint with the specified initial length

virtual int deactivate(void)

deactivates the tether constraint

virtual int setAnchor(const triple &pt, int setLength = 1)

sets the anchor point (and tether length if setLength is 1)

triple getBodyPt(void)

returns the world-space location of the tether's exit location from the reel

triple getTetherDirection(void)

returns a unit vector pointing in the direction of the tether, away from the reel

This class has no child classes.

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