class uniformField

Applies a force proportional to mass to every link.

Inheritance:

Public Fields

triple acc

the direction and magnitude of the acceleration felt by each link

Public Methods

uniformField(void)

constructor

uniformField(const triple &Acc)

constructor

int apply(void)

applies a force of acc*link::mass to each link in the system

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

Applies a force proportional to mass to every link. The uniformField class provides an easy way to add gravity (or gravity-like forces) to all links in a dynamicSystem. The force for each link is computed as acc*link::mass, where acc is a triple indicating direction and magnitude. For example, acc = (0, 0, -9.8) would correspond to a gravitational acceleration of 9.8m/s^2 acting in the -z direction.

triple acc

the direction and magnitude of the acceleration felt by each link

uniformField(void)

constructor

uniformField(const triple &Acc)

constructor

int apply(void)

applies a force of acc*link::mass to each link in the system

This class has no child classes.

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