Inheritance diagram for AnimatSim::Environment::MotorizedJoint:

Collaboration diagram for AnimatSim::Environment::MotorizedJoint:

Public Member Functions
virtual int	AssistCountdown ()
	Gets the assist countdown. More...

virtual void	AssistCountdown (int iVal)
	Sets the assist countdown. More...

virtual CStdPID *	AssistPid ()
	Gets a pointer to the motor assist pid controller. More...

virtual float	DesiredPosition ()
	Gets the desired Position. More...

virtual void	DesiredPosition (float fltPosition)
	Sets the desired Position. More...

virtual float	DesiredVelocity ()
	Gets the desired velocity. More...

virtual void	DesiredVelocity (float fltVelocity)
	Sets the desired velocity. More...

virtual void	EnableLock (bool bOn, float fltPosition, float fltMaxLockForce)
	Enables/disables the motor lock. More...

virtual bool	EnableMotor ()
	Tells if the motor is enabled. More...

virtual void	EnableMotor (bool bVal)
	Enables the motor. More...

virtual float *	GetDataPointer (const std::string &strDataType)

virtual void	Initialize ()
	Initializes this object. More...

virtual void	Load (CStdXml &oXml)

virtual void	MaxForce (float fltVal, bool bUseScaling=true)
	Sets the Maximum torque. More...

virtual float	MaxForce ()
	Gets the maximum torque. More...

virtual float	MaxForceNotScaled ()
	Gets the maximum force/torque a motor can apply. This is the unscaled value. More...

virtual float	MaxVelocity ()
	Gets the maximum velocity. More...

virtual void	MaxVelocity (float fltVal, bool bUseScaling=true)
	Sets the maximum velocity allowed by the motorized joint. More...

virtual CStdFPoint	MotorAssistForceToA ()
	Gets the force vector that the motor assist is applying to body A. (scaled units). More...

virtual void	MotorAssistForceToA (CStdFPoint &vVal)
	Sets the force vector that the motor assist is applying to body A. (scaled units). More...

virtual CStdFPoint	MotorAssistForceToAReport ()
	Gets the force vector that the motor assist is applying to body A. (un-scaled units). This is used for reporting purposes. More...

virtual void	MotorAssistForceToAReport (CStdFPoint &vVal)
	Sets the force vector that the motor assist is applying to body A. (un-scaled units). This is used for reporting purposes. More...

virtual CStdFPoint	MotorAssistForceToB ()
	Gets the force vector that the motor assist is applying to body B. (scaled units). More...

virtual void	MotorAssistForceToB (CStdFPoint &vVal)
	Sets the force vector that the motor assist is applying to body B. (scaled units). More...

virtual CStdFPoint	MotorAssistForceToBReport ()
	Gets the force vector that the motor assist is applying to body B. (scaled units). This is used for reporting purposes. More...

virtual void	MotorAssistForceToBReport (CStdFPoint &vVal)
	Sets the force vector that the motor assist is applying to body B. (un-scaled units). This is used for reporting purposes. More...

virtual CStdFPoint	MotorAssistTorqueToA ()
	Gets the torque vector that the motor assist is applying to body A. (scaled units). More...

virtual void	MotorAssistTorqueToA (CStdFPoint &vVal)
	Sets the torque vector that the motor assist is applying to body A. (scaled units). More...

virtual CStdFPoint	MotorAssistTorqueToAReport ()
	Gets the torque vector that the motor assist is applying to body A. (un-scaled units). This is used for reporting purposes. More...

virtual void	MotorAssistTorqueToAReport (CStdFPoint &vVal)
	Sets the torque vector that the motor assist is applying to body A. (un-scaled units). This is used for reporting purposes. More...

virtual CStdFPoint	MotorAssistTorqueToB ()
	Gets the torque vector that the motor assist is applying to body B. (scaled units). More...

virtual void	MotorAssistTorqueToB (CStdFPoint &vVal)
	Sets the torque vector that the motor assist is applying to body B. (scaled units). More...

virtual CStdFPoint	MotorAssistTorqueToBReport ()
	Gets the torque vector that the motor assist is applying to body B. (un-scaled units). This is used for reporting purposes. More...

virtual void	MotorAssistTorqueToBReport (CStdFPoint &vVal)
	Sets the torque vector that the motor assist is applying to body B. (un-scaled units). This is used for reporting purposes. More...

virtual CStdFPoint	MotorForceToA ()
	Gets the force vector that the motor is applying to body A. (un-scaled units). This includes any motor assist within it. More...

virtual void	MotorForceToA (CStdFPoint &vVal)
	Sets the force vector that the motor is applying to body A. (un-scaled units). This includes any motor assist within it. More...

virtual float	MotorForceToAMagnitude ()
	Gets the magnitude of the force that the motor is applying to body A. (scaled units). More...

virtual void	MotorForceToAMagnitude (float fltVal)
	Sets the magnitude of the force that the motor is applying to body A. (scaled units). More...

virtual CStdFPoint	MotorForceToB ()
	Gets the force vector that the motor is applying to body B. (un-scaled units). This includes any motor assist within it. More...

virtual void	MotorForceToB (CStdFPoint &vVal)
	Sets the force vector that the motor is applying to body B. (un-scaled units). This includes any motor assist within it. More...

virtual float	MotorForceToBMagnitude ()
	Gets the magnitude of the force that the motor is applying to body B. (scaled units). More...

virtual void	MotorForceToBMagnitude (float fltVal)
	Sets the magnitude of the force that the motor is applying to body B. (scaled units). More...

virtual void	MotorInput (float fltInput)
	Sets the desired velocity. More...

virtual CStdFPoint	MotorTorqueToA ()
	Gets the torque vector that the motor is applying to body A. (un-scaled units). This includes any motor assist within it. More...

virtual void	MotorTorqueToA (CStdFPoint &vVal)
	Sets the torque vector that the motor is applying to body A. (un-scaled units). This includes any motor assist within it. More...

virtual float	MotorTorqueToAMagnitude ()
	Gets the magnitude of the torque that the motor is applying to body A. (scaled units). More...

virtual void	MotorTorqueToAMagnitude (float fltVal)
	Sets the magnitude of the torque that the motor is applying to body A. (scaled units). More...

virtual CStdFPoint	MotorTorqueToB ()
	Gets the torque vector that the motor is applying to body B. (un-scaled units). This includes any motor assist within it. More...

virtual void	MotorTorqueToB (CStdFPoint &vVal)
	Sets the torque vector that the motor is applying to body B. (un-scaled units). This includes any motor assist within it. More...

virtual float	MotorTorqueToBMagnitude ()
	Gets the magnitude of the torque that the motor is applying to body B. (scaled units). More...

virtual void	MotorTorqueToBMagnitude (float fltVal)
	Sets the magnitude of the torque that the motor is applying to body B. (scaled units). More...

virtual void	MotorType (eJointMotorType eServo)
	Sets the type of motor to use for this joint. More...

virtual eJointMotorType	MotorType ()
	Gets the type of motor to use for this joint. More...

virtual IMotorizedJoint *	PhysicsMotorJoint ()
	Gets the physics body interface pointer. This is an interface reference to the Vs version of this object. It will allow us to call methods directly in the Vs (OSG) version of the object directly without having to overload a bunch of methods in each joint.. More...

virtual void	PhysicsMotorJoint (IMotorizedJoint *lpJoint)
	Sets the physics motorized joint interface pointer. This is an interface reference to the Vs version of this object. It will allow us to call methods directly in the Vs (OSG) version of the object directly without having to overload a bunch of methods in each joint.. More...

virtual float	PrevSetPosition ()
	Gets the previous set position. More...

virtual void	PrevSetPosition (float fltVal)
	Sets the previous desired Position. More...

virtual float	PrevSetVelocity ()
	Gets the previous set etVelocity. More...

virtual void	PrevSetVelocity (float fltVal)
	Sets the previous desired velocity. More...

virtual float	PrevVelocity ()
	Sets the previous velocity that is actually used by the physics method. More...

virtual void	PrevVelocity (float fltVal)
	Sets the previous velocity that is actually used by the physics method. More...

virtual void	QueryProperties (CStdPtrArray< TypeProperty > &aryProperties)

virtual bool	ReachedSetPosition ()
	Gets whether the servo motor has reached its target position. If it has then it switches to position only control until the user sets a new target position. More...

virtual void	ReachedSetPosition (bool bVal)
	whether the servo motor has reached its target position. More...

virtual void	ResetSimulation ()
	Resets the simulation back to time 0. More...

virtual void	RobotMotorControl (RobotPartInterface *lpPart)

virtual RobotPartInterface *	RobotMotorControl ()
	Gets the robot motor control interface. More...

virtual void	ServoGain (float fltVal)
	Sets the servo gain used to calculate the new velocity for maintaining a position with a servo motor. More...

virtual float	ServoGain ()
	Gets the servo gain. More...

virtual bool	SetData (const std::string &strDataType, const std::string &strValue, bool bThrowError=true)

virtual float	SetPosition ()
	Gets the position that is actually set using the physics method. More...

virtual void	SetPosition (float fltVal)
	Sets the Position that is actually set using the physics method. More...

virtual float	SetVelocity ()
	Gets the velocity that is actually set using the physics method. More...

virtual void	SetVelocity (float fltVal)
	Sets the velocity that is actually set using the physics method. More...

virtual void	SetVelocityToDesired ()
	Sets the desired velocity to use for the motor. More...

virtual float	Temperature ()
	Gets the motor temperature. More...

virtual void	Temperature (float fltVal)
	Sets the motor temperature. More...

virtual float	Voltage ()
	Gets the motor voltage. More...

virtual void	Voltage (float fltVal)
	Sets the motor voltage. More...

Public Member Functions inherited from AnimatSim::Environment::Joint
	Joint ()
	Default constructor. More...

virtual	~Joint ()
	Destructor. More...

virtual void	AddExternalNodeInput (int iTargetDataType, float fltInput)
	Adds an external node input. More...

virtual void	AfterResetSimulation ()
	Called after a simulation reset for some objects. More...

virtual RigidBody *	Child ()
	Gets the child RigidBody part for this joint. More...

virtual void	Child (RigidBody *lpValue)
	Sets the Child RigidBody part for this joint. More...

virtual void	CreateJoint ()
	Creates the joint. More...

virtual bool	EnableLimits ()
	Tells if ConstraintLimits are enabled. More...

virtual void	EnableLimits (bool bVal)
	Sets whether ContrainLimits are enabled or not. More...

virtual ConstraintFriction *	Friction ()
	Gets the pointer to the friction. More...

virtual void	Friction (ConstraintFriction *lpFriction)
	Sets the pointer to the friction. More...

virtual void	Friction (std::string strXml)
	Sets the friction. More...

virtual float	GetLimitRange ()
	Gets the entire range of movement within the limits. If limits are not enabled then it returns -1. More...

virtual float	GetPositionWithinLimits (float fltPos)
	Gets a position value within the constraint limits. More...

virtual float	JointForce ()
	Gets the joint force. More...

virtual void	JointForce (float fltForce)
	Sets the joint force. More...

virtual float	JointPosition ()
	Gets the joint position. More...

virtual void	JointPosition (float fltPos)
	Sets the joint position. More...

virtual float	JointVelocity ()
	Gets the joint velocity. More...

virtual void	JointVelocity (float fltVel)
	Sets the joint velocity. More...

virtual ConstraintRelaxation *	Relaxation1 ()
	Gets the pointer to the primary axis displacement relaxation. More...

virtual void	Relaxation1 (ConstraintRelaxation *lpRelax)
	Sets the pointer to the primary axis displacement relaxation. More...

virtual void	Relaxation1 (std::string strXml)
	Sets the primary axis displacement relaxation. More...

virtual ConstraintRelaxation *	Relaxation2 ()
	Gets the pointer to the secondary axis displacement relaxation. More...

virtual void	Relaxation2 (ConstraintRelaxation *lpRelax)
	Sets the pointer to the secondary axis displacement relaxation. More...

virtual void	Relaxation2 (std::string strXml)
	Sets the secondary axis displacement relaxation. More...

virtual ConstraintRelaxation *	Relaxation3 ()
	Gets the pointer to the secondary axis displacement relaxation. More...

virtual void	Relaxation3 (ConstraintRelaxation *lpRelax)
	Sets the pointer to the third axis displacement relaxation. More...

virtual void	Relaxation3 (std::string strXml)
	Sets the third axis displacement relaxation. More...

virtual ConstraintRelaxation *	Relaxation4 ()
	Gets the pointer to the secondary axis rotation relaxation. More...

virtual void	Relaxation4 (ConstraintRelaxation *lpRelax)
	Sets the pointer to the secondary axis rotation relaxation. More...

virtual void	Relaxation4 (std::string strXml)
	Sets the secondary axis rotation relaxation. More...

virtual ConstraintRelaxation *	Relaxation5 ()
	Gets the pointer to the thirdary axis rotation relaxation. More...

virtual void	Relaxation5 (ConstraintRelaxation *lpRelax)
	Sets the pointer to the thirdary axis rotation relaxation. More...

virtual void	Relaxation5 (std::string strXml)
	Sets the thirdary axis rotation relaxation. More...

virtual ConstraintRelaxation *	Relaxation6 ()
	Gets the pointer to the thirdary axis rotation relaxation. More...

virtual void	Relaxation6 (ConstraintRelaxation *lpRelax)
	Sets the pointer to the thirdary axis rotation relaxation. More...

virtual void	Relaxation6 (std::string strXml)
	Sets the thirdary axis rotation relaxation. More...

virtual float	Size ()
	Gets the size of the graphical representation of this joint. More...

virtual void	Size (float fltVal, bool bUseScaling=true)
	Sets the size of the graphical representation of this joint. More...

virtual void	StepSimulation ()
	Step the simulation for this object. More...

virtual void	UpdatePhysicsPosFromGraphics ()
	Updates the physics position from graphics. More...

virtual bool	UsesRadians ()
	Tells whether this joint uses radians or meters for its measurements. More...

virtual int	VisualSelectionType ()
	Gets the visual selection type for this part. More...

virtual void	WakeDynamics ()

Public Member Functions inherited from AnimatSim::Environment::BodyPart
	BodyPart (void)
	Default constructor. More...

virtual	~BodyPart (void)
	Destructor. More...

virtual void	AddBodyClicked (float fltPosX, float fltPosY, float fltPosZ, float fltNormX, float fltNormY, float fltNormZ)
	Called when the user clicks on this object while the AddBody mode is active. More...

virtual int	FindRobotPartListIndex (std::string strID, bool bThrowError=true)
	Finds the index of a robot part attached to this body part with the matching ID. More...

virtual CStdArray< RobotPartInterface * > *	GetRobotPartInterfaces ()
	Gets a pointer to the roboto part interface associated with this body part. More...

virtual bool	NeedsRobotSynch ()

virtual IPhysicsBody *	PhysicsBody ()
	Gets the physics body interface pointer. This is an interface reference to the Vs version of this object. It will allow us to call methods directly in the Vs (OSG) version of the object directly without having to overload a bunch of methods in each box, sphere, etc.. More...

virtual void	PhysicsBody (IPhysicsBody *lpBody)
	Sets the physics body interface pointer. This is an interface reference to the Vs version of this object. It will allow us to call methods directly in the Vs (OSG) version of the object directly without having to overload a bunch of methods in each box, sphere, etc.. More...

virtual void	Resize ()
	Called when this object has been resized. More...

virtual void	Selected (bool bValue, bool bSelectMultiple)

virtual void	SetSystemPointers (Simulator lpSim, Structure lpStructure, NeuralModule lpModule, Node lpNode, bool bVerify)

virtual float	SynchUpdateInterval ()
	This is how often we need to update this particular adapter. More...

virtual void	SynchUpdateInterval (float fltVal)
	Determines how often we need to update this particular adapter. More...

virtual bool	SynchWithRobot ()
	Gets whether the m_bRobotAdpaterSynch flag applies to this adapter. More...

virtual void	SynchWithRobot (bool bVal)
	Determines whether the m_bRobotAdpaterSynch flag applies to this adapter. More...

virtual void	TimeStepModified ()
	If the time step is modified then we need to recalculate the length of the delay buffer. More...

virtual void	UpdateExtraData ()
	UpdateData is called during this body parts sim update call, and before any of its child updates because those children may need import information like this parts position. However, there are a number of pieces of information that are not critical to the part itself, but that a user may have asked for. I do not want to collect that info for every part if it is not needed. So instead, if a user asks for it then this part is added to a list on the simulation. After all parts have been updated for a simulation step then we loop through the list of just the necessary parts and call UpdateExtraData to collect this additional data. It is important that this be done after all parts have stepped becasue some of this data will only be correct at the end. An example of this is force applied to a part. Forces can be added by any child parts, so it is only at the end that these values are valid. More...

virtual void	VisualSelectionModeChanged (int iNewMode)
	Called when the visual selection mode changed in GUI. More...

Public Member Functions inherited from AnimatSim::Node
	Node ()
	Default constructor. More...

virtual	~Node ()
	Destructor. More...

virtual void	Copy (CStdSerialize *lpSource)

virtual bool	Enabled ()
	Tells whether this node is enabled. More...

virtual void	Enabled (bool bValue)
	Enables the node. More...

virtual int	GetTargetDataTypeIndex (const std::string &strDataType)
	Used to convert a string target data type into an integer index. More...

virtual void	Kill (bool bState=true)
	Kills. More...

virtual void	SetSystemPointers (Simulator lpSim, Structure lpStructure, NeuralModule lpModule, Node lpNode, bool bVerify)
	Sets the system pointers. More...

virtual void	VerifySystemPointers ()
	Verify that system pointers have been set correctly. More...

Public Member Functions inherited from AnimatSim::AnimatBase
	AnimatBase ()
	Constructs an AnimatBase object. More...

virtual	~AnimatBase ()
	Destroys the AnimatBase object.. More...

virtual bool	AddItem (const std::string &strItemType, const std::string &strXml, bool bThrowError=true, bool bDoNotInit=false)
	Adds a new object to this parent. More...

virtual long	CalculateSnapshotByteSize ()
	Calculates the snapshot byte size. More...

virtual NeuralModule *	GetNeuralModule ()
	Gets the neural module. More...

virtual Node *	GetNode ()
	Gets the node. More...

virtual Simulator *	GetSimulator ()
	Gets the simulator pointer. More...

virtual Structure *	GetStructure ()
	Gets the structure for this node. More...

virtual bool	HasProperty (const std::string &strName)
	Queries this object if it has a property with the given name. More...

virtual std::string	ID ()
	Gets the unique GUID ID of this object. More...

virtual void	ID (std::string strValue)
	Sets the unique GUID ID of the object. More...

virtual void	Load (StdUtils::CStdXml &oXml)
	Loads the item using an XML data packet. More...

virtual void	LoadKeyFrameSnapshot (byte *aryBytes, long &lIndex)
	Loads a key frame snapshot. More...

virtual std::string	Name ()
	Gets the name of this object. More...

virtual void	Name (std::string strValue)
	Sets the name of the object. Blank is acceptable. More...

virtual AnimatPropertyType	PropertyType (const std::string &strName)

virtual void	ReInitialize ()
	Re-initialize this object. More...

virtual bool	RemoveItem (const std::string &strItemType, const std::string &strID, bool bThrowError=true)
	Removes a child item from this parent. More...

virtual void	Reset ()
	Resets this object. More...

virtual void	RigidBodyAdded (std::string strID)

virtual void	RigidBodyRemoved (std::string strID)

virtual void	SaveKeyFrameSnapshot (byte *aryBytes, long &lIndex)
	Saves a key frame snapshot. More...

virtual bool	Selected ()
	Tells if this items is selected or not. More...

virtual bool	SetData (const std::string &strDataType, const float fltValue, bool bThrowError=true)
	Set a variable based on a string data type name. More...

virtual bool	SetData (const std::string &strDataType, const long lValue, bool bThrowError=true)
	Set a variable based on a string data type name. More...

virtual void	SimPausing ()
	Called just before the simulation pauses. More...

virtual void	SimStarting ()
	Called just before the simulation starts. More...

virtual void	SimStopping ()
	Called just before the simulation stops. More...

virtual std::string	Type ()
	returns the string type name of this object. More...

virtual void	Type (std::string strValue)
	Sets the class type for this object. More...

Public Member Functions inherited from AnimatSim::Environment::MovableItem
	MovableItem (void)
	Default constructor. More...

virtual	~MovableItem (void)
	Destructor. More...

virtual CStdFPoint	AbsolutePosition ()
	Gets the absolute position of this body part. More...

virtual void	AbsolutePosition (CStdFPoint &oPoint)
	Sets the absolute position of this body part. (m_oAbsPosition) More...

virtual void	AbsolutePosition (float fltX, float fltY, float fltZ)
	Sets the absolute position of this body part. (m_oAbsPosition) More...

virtual bool	AllowMouseManipulation ()
	Tells if a given part can be manipulated using the mouse and draggers. More...

virtual bool	AllowRotateDragX ()
	Gets whether this body part can be rotated along the x-axis by the user with the drag handlers. More...

virtual bool	AllowRotateDragY ()
	Gets whether this body part can be rotated along the y-axis by the user with the drag handlers. More...

virtual bool	AllowRotateDragZ ()
	Gets whether this body part can be rotated along the z-axis by the user with the drag handlers. More...

virtual bool	AllowTranslateDragX ()
	Gets whether this body part can be translated along the x-axis by the user with the drag handlers. More...

virtual bool	AllowTranslateDragY ()
	Gets whether this body part can be translated along the y-axis by the user with the drag handlers. More...

virtual bool	AllowTranslateDragZ ()
	Gets whether this body part can be translated along the z-axis by the user with the drag handlers. More...

virtual float	Alpha ()
	Gets the current alpha. More...

virtual void	Alpha (float fltAlpha)
	Sets the current alpha. More...

virtual CStdColor *	Ambient ()
	Gets the ambient color value. More...

virtual void	Ambient (CStdColor &aryColor)

virtual void	Ambient (float *aryColor)
	Sets the Ambient color. More...

virtual void	Ambient (std::string strXml)
	Loads the Ambient color from an XML data packet. More...

virtual bool	CalculateLocalPosForWorldPos (float fltWorldX, float fltWorldY, float fltWorldZ, CStdFPoint &vLocalPos)
	Calculates the local position values for matrix transform for the part to be in a specific world position. More...

virtual IMovableItemCallback *	Callback ()
	Gets the callback interface pointer. This is an interface pointer to a callback class that allows us to notify the GUI of events that occur within the simulation. More...

virtual void	Callback (IMovableItemCallback *lpCallback)
	Sets the callback interface pointer. This is an interface pointer to a callback class that allows us to notify the GUI of events that occur within the simulation. More...

virtual float	CollisionsAlpha ()
	Gets the collisions alpha. More...

virtual void	CollisionsAlpha (float fltVal)
	Sets the collisions alpha. More...

virtual CStdColor *	Diffuse ()
	Gets the diffuse color. More...

virtual void	Diffuse (CStdColor &aryColor)

virtual void	Diffuse (float *aryColor)
	Sets the Diffuse color. More...

virtual void	Diffuse (std::string strXml)
	Loads the Diffuse color from an XML data packet. More...

virtual BoundingBox	GetBoundingBox ()
	Gets the bounding box for this part. More...

virtual float	GetBoundingRadius ()
	Gets the bounding radius of this part. More...

virtual CStdFPoint	GetCurrentPosition ()
	Gets the current position of this part. More...

virtual float	GraphicsAlpha ()
	Gets the graphics alpha. More...

virtual void	GraphicsAlpha (float fltVal)
	Sets the graphics alpha. More...

virtual bool	IsSelected ()
	Query if this object is selected. More...

virtual bool	IsVisible ()
	Query if this object is visible. More...

virtual void	IsVisible (bool bVal)
	Sets whether this part is visible or not. More...

virtual float	JointsAlpha ()
	Gets the joints alpha. More...

virtual void	JointsAlpha (float fltVal)
	Sets the joints alpha. More...

virtual std::string	LocalTransformationMatrixString ()
	Returns a string representation of the transformation matrix of this object. This is primarily used to save off the transform matrix into the project file. More...

virtual void	OrientNewPart (float fltXPos, float fltYPos, float fltZPos, float fltXNorm, float fltYNorm, float fltZNorm)
	Orients a new part based on where the parent was clicked and the normal of the surface face. More...

RigidBody *	Parent ()
	Gets the parent RigidBody of this part. More...

void	Parent (RigidBody *lpValue)
	Sets the parent RigidBody of this part. More...

virtual IPhysicsMovableItem *	PhysicsMovableItem ()
	Gets the physics body interface pointer. This is an interface reference to the Vs version of this object. It will allow us to call methods directly in the Vs (OSG) version of the object directly without having to overload a bunch of methods in each box, sphere, etc.. More...

virtual void	PhysicsMovableItem (IPhysicsMovableItem *lpBase)
	Sets the physics body interface pointer. This is an interface reference to the Vs version of this object. It will allow us to call methods directly in the Vs (OSG) version of the object directly without having to overload a bunch of methods in each box, sphere, etc.. More...

virtual CStdFPoint	Position ()
	Gets the local position. (m_oPosition) More...

virtual void	Position (CStdFPoint &oPoint, bool bUseScaling=true, bool bFireChangeEvent=false, bool bUpdateMatrix=true)
	Sets the local position. (m_oPosition) More...

virtual void	Position (float fltX, float fltY, float fltZ, bool bUseScaling=true, bool bFireChangeEvent=false, bool bUpdateMatrix=true)
	Sets the local position. (m_oPosition) More...

virtual void	Position (std::string strXml, bool bUseScaling=true, bool bFireChangeEvent=false, bool bUpdateMatrix=true)
	Sets the local position. (m_oPosition). This method is primarily used by the GUI to reset the local position using an xml data packet. More...

virtual float	ReceptiveFieldsAlpha ()
	Gets the receptive fields alpha. More...

virtual void	ReceptiveFieldsAlpha (float fltVal)
	Sets the receptive fields alpha. More...

virtual CStdFPoint	ReportPosition ()
	Gets the reported local position. (m_oReportPosition). More...

virtual void	ReportPosition (CStdFPoint &oPoint)
	Sets the reported local position. (m_oReportPosition). More...

virtual void	ReportPosition (float fltX, float fltY, float fltZ)
	Sets the reported local position. (m_oReportPosition). More...

virtual CStdFPoint	ReportRotation ()
	Gets the reported rotation of this part. (m_oReportRotation) More...

virtual void	ReportRotation (CStdFPoint &oPoint)
	Sets the reported rotation of this part. (m_oReportRotation) More...

virtual void	ReportRotation (float fltX, float fltY, float fltZ)
	Sets the reported rotation of this part. (m_oReportRotation) More...

virtual CStdFPoint	ReportWorldPosition ()
	Gets the reported world position. (m_oReportWorldPosition) More...

virtual void	ReportWorldPosition (CStdFPoint &oPoint)
	Sets the reported world position (m_oReportWorldPosition) More...

virtual void	ReportWorldPosition (float fltX, float fltY, float fltZ)
	Sets the reported world position (m_oReportWorldPosition) More...

virtual CStdFPoint	Rotation ()
	Gets the rotation of this body in radians. More...

virtual void	Rotation (CStdFPoint &oPoint, bool bFireChangeEvent=false, bool bUpdateMatrix=true)
	Sets the rotation of this body in radians. (m_oRotation) More...

virtual void	Rotation (float fltX, float fltY, float fltZ, bool bFireChangeEvent=false, bool bUpdateMatrix=true)
	Sets the rotation of this body in radians. (m_oRotation) More...

virtual void	Rotation (std::string strXml, bool bFireChangeEvent=false, bool bUpdateMatrix=true)
	Sets the rotation of this body in radians. (m_oRotation). This method is primarily used by the GUI to reset the rotation using an xml data packet. More...

virtual CStdFPoint	SelectedVertex ()
	Gets the relative position of the selected vertex. (m_vSelectedVertex) More...

virtual void	SelectedVertex (CStdFPoint &vPoint, bool bFireChangeEvent=false, bool bUpdatePhysics=true)
	Sets the relative position of the selected vertex. (m_vSelectedVertex) More...

virtual void	SelectedVertex (float fltX, float fltY, float fltZ, bool bFireChangeEvent=false, bool bUpdatePhysics=true)
	Sets the relative position of the selected vertex. (m_vSelectedVertex) More...

virtual void	SetBoundingBox (int iIdx, float fltVal)
	Sets one dimension of the bounding box. This does nothing for all parts except a mesh. More...

virtual float	Shininess ()
	Gets the shininess. More...

virtual void	Shininess (float fltVal)
	Sets the shininess value. More...

virtual float	SimulationAlpha ()
	Gets the simulation alpha. More...

virtual void	SimulationAlpha (float fltVal)
	Sets the simulation alpha. More...

virtual CStdColor *	Specular ()
	Gets the specular color. More...

virtual void	Specular (CStdColor &aryColor)

virtual void	Specular (float *aryColor)
	Sets the Specular color. More...

virtual void	Specular (std::string strXml)
	Loads the Specular color from an XML data packet. More...

virtual std::string	Texture ()
	Gets the texture filename. More...

virtual void	Texture (std::string strValue)
	Sets the Texture filename. More...

virtual CStdFPoint	UpdateAbsolutePosition ()

virtual void	UserDefinedDraggerRadius (float fltRadius)
	User defined dragger radius. More...

virtual float	UserDefinedDraggerRadius ()
	Gets the user defined dragger radius. More...

Static Public Member Functions
static MotorizedJoint *	CastToDerived (AnimatBase *lpBase)

Static Public Member Functions inherited from AnimatSim::Environment::Joint
static Joint *	CastToDerived (AnimatBase *lpBase)

Static Public Member Functions inherited from AnimatSim::Environment::BodyPart
static BodyPart *	CastToDerived (AnimatBase *lpBase)

Static Public Member Functions inherited from AnimatSim::Node
static Node *	CastToDerived (AnimatBase *lpBase)

Protected Member Functions
virtual void	AddRobotPartInterface (RobotPartInterface *lpPart)

virtual void	ApplyMotorAssist ()
	Applies the motor assist. More...

virtual void	ClearAssistForces ()
	Clears the assist forces. More...

virtual void	EnableFeedback ()
	Enables joint feedback. More...

virtual void	RemoveRobotPartInterface (RobotPartInterface *lpPart)

Protected Member Functions inherited from AnimatSim::Environment::Joint
virtual void	ClearRelaxations ()
	Clears the relaxation pointers. More...

virtual ConstraintFriction *	LoadConstraintFriction (CStdXml &oXml)
	Loads constraint Friction object. More...

virtual ConstraintRelaxation *	LoadConstraintRelaxation (CStdXml &oXml, std::string strName)
	Loads constraint relaxation object. More...

Protected Member Functions inherited from AnimatSim::Environment::BodyPart
virtual void	UpdateData ()
	Called to collect any body data for this part. More...

Protected Member Functions inherited from AnimatSim::Environment::MovableItem
virtual void	LoadPosition (CStdXml &oXml)
	Loads the items position. More...

virtual void	LoadRotation (CStdXml &oXml)
	Loads the items rotation. More...

Protected Attributes
bool	m_bEnableMotor
	If true then the motor for this joint is enabled.

bool	m_bEnableMotorInit

bool	m_bReachedSetPos

eJointMotorType	m_eMotorType
	Determines the type of motor control this joint uses. The default is velocity controlled, but it can be position controlled, or both position and velocity controlled.

float	m_fltDesiredPosition

float	m_fltDesiredVelocity

float	m_fltMaxForce

float	m_fltMaxForceNotScaled
	The un=scaled maximum force.

float	m_fltMaxVelocity

float	m_fltMotorAssistMagnitude
	The motor assist Force magnitude.

float	m_fltMotorAssistMagnitudeReport
	The reportable motor assist Force magnitude.

float	m_fltMotorForceAMagnitude
	The magnitude of the motor Force being applied to body A. (scaled units)

float	m_fltMotorForceBMagnitude
	The magnitude of the motor Force being applied to body B. (scaled units)

float	m_fltMotorTorqueAMagnitude
	The magnitude of the motor torque being applied to body A. (scaled units)

float	m_fltMotorTorqueBMagnitude
	The magnitude of the motor torque being applied to body B. (scaled units)

float	m_fltPrevSetPosition

float	m_fltPrevSetVelocity
	The previous velocity set for the motorized joint in the last time step.

float	m_fltPrevVelocity

float	m_fltReportSetPosition
	This is the variable that is reported to AnimatLab on what the set position was.

float	m_fltReportSetVelocity
	This is the variable that is reported to AnimatLab on what the set veloicty was.

float	m_fltSetPosition

float	m_fltSetPositionDeltaCheck
	Used to check whether the set position has changed.

float	m_fltSetVelocity

float	m_fltTemperature

float	m_fltVoltage

float	m_ftlServoGain
	The gain of the servo motor.

int	m_iAssistCountdown

PidControl *	m_lpAssistPid
	The PID controller for the motor assist system.

IMotorizedJoint *	m_lpPhysicsMotorJoint
	The pointer to the physics joint instance.

RobotPartInterface *	m_lpRobotMotorControl
	The RobotPartInterface responsible for motor control for this motorized joint.

CStdFPoint	m_vMotorAssistForceToA
	Force vector that the motor assist is applying to body A. (scaled units).

CStdFPoint	m_vMotorAssistForceToAReport
	Force vector that the motor assist is applying to body A. (un-scaled units).

CStdFPoint	m_vMotorAssistForceToB
	Force vector that the motor assist is applying to body B. (scaled units).

CStdFPoint	m_vMotorAssistForceToBReport
	Force vector that the motor assist is applying to body B. (un-scaled units).

CStdFPoint	m_vMotorAssistTorqueToA
	Torque vector that the motor assist is applying to body A. (scaled units).

CStdFPoint	m_vMotorAssistTorqueToAReport
	Torque vector that the motor assist is applying to body A. (un-scaled units).

CStdFPoint	m_vMotorAssistTorqueToB
	Torque vector that the motor assist is applying to body B. (scaled units).

CStdFPoint	m_vMotorAssistTorqueToBReport
	Torque vector that the motor assist is applying to body B. (un-scaled units).

CStdFPoint	m_vMotorForceToA

CStdFPoint	m_vMotorForceToB

CStdFPoint	m_vMotorTorqueToA

CStdFPoint	m_vMotorTorqueToB

Protected Attributes inherited from AnimatSim::Environment::Joint
ConstraintRelaxation *	m_aryRelaxations [6]
	The relaxations for the constraints.

bool	m_bEnableLimits
	If true then any ConstraintLimits for this joint are enabled.

float	m_fltForce
	The current force being applied to the joint by the motor.

float	m_fltPosition

float	m_fltSize
	Scales the size of the graphics for this joint.

float	m_fltVelocity

RigidBody *	m_lpChild
	The child rigid body for this joint.

ConstraintFriction *	m_lpFriction
	The friction for this joint.

Protected Attributes inherited from AnimatSim::Environment::BodyPart
CStdArray< RobotPartInterface * >	m_aryRobotParts
	Array of pointers to robot part interfaces connected to this body part.

bool	m_bSynchWithRobot

float	m_fltSynchUpdateInterval
	This is how often we need to update this particular adapter.

int	m_iSynchCount
	Keeps track of the last time we did a synch for the robot.

int	m_iSynchUpdateInterval
	The number of ticks between each call to update for this adapter till the next update time.

IPhysicsBody *	m_lpPhysicsBody

Protected Attributes inherited from AnimatSim::Node
bool	m_bInitEnabled
	Keeps track of the enabled state at sim startup.

float	m_fltEnabled
	This is used for reporting the enabled state in a GetDataPointer call.

Organism *	m_lpOrganism
	The pointer to this node's organism.

Protected Attributes inherited from AnimatSim::AnimatBase
bool	m_bEnabled
	Tells if this item is enabled or not. If it is not enabled then it is not run.

bool	m_bSelected
	Tells whether the object is selected or not.

AnimatSim::Behavior::NeuralModule *	m_lpModule
	The pointer to this items parentNeuralModule. If this is not relevant for this object then this is NULL.

Node *	m_lpNode
	The pointer to this items parent Node. If this is not relevant for this object then this is NULL.

Simulator *	m_lpSim
	The pointer to a Simulation.

AnimatSim::Environment::Structure *	m_lpStructure
	The pointer to this items parent Structure. If this is not relevant for this object then this is NULL.

std::string	m_strID
	The unique Id for this object.

std::string	m_strName
	The name for this object.

std::string	m_strType
	The type for this object. Examples are Box, Plane, Neuron, etc..

Protected Attributes inherited from AnimatSim::Environment::MovableItem
bool	m_bIsSelected
	Keeps track of whether this movable item has been selected or not.

bool	m_bIsVisible

float	m_fltAlpha
	The current alpha transparency for this body part.

float	m_fltCollisionsAlpha
	The alpha transparency used in the Collisions VisualSelectionMode.

float	m_fltGraphicsAlpha
	The alpha transparency used in the Graphics VisualSelectionMode.

float	m_fltJointsAlpha
	The alpha transparency used in the Joints VisualSelectionMode.

float	m_fltReceptiveFieldsAlpha
	The alpha transparency used in the Receptive Fields VisualSelectionMode.

float	m_fltReportIsVisible

float	m_fltShininess
	The shininess of the part. A value between 0 and 128.

float	m_fltSimulationAlpha
	The alpha transparency used in the Simulation VisualSelectionMode.

float	m_fltUserDefinedDraggerRadius
	User defined drag handle radius. If this is -1 then the user has not set the value and the default is used.

IMovableItemCallback *	m_lpCallback

Simulator *	m_lpMovableSim
	The pointer to a Simulation.

RigidBody *	m_lpParent

IPhysicsMovableItem *	m_lpPhysicsMovableItem

CStdFPoint	m_oAbsPosition

CStdFPoint	m_oPosition
	These are rotation and position coords relative to the parent if this is a body part.

CStdFPoint	m_oReportPosition
	This is used for reporting the position back to the GUI. It is the position scaled for distance units.

CStdFPoint	m_oReportRotation

CStdFPoint	m_oReportWorldPosition
	This is used for reporting the position back to the GUI. It is the world position scaled for distance units.

CStdFPoint	m_oRotation

std::string	m_strTexture
	An optional texture to apply to the rigid body.

CStdColor	m_vAmbient
	The ambient color to apply to this part. It is specified as red, green, blue, and alpha.

CStdColor	m_vDiffuse
	The diffuse color to apply to this part. It is specified as red, green, blue, and alpha.

CStdFPoint	m_vSelectedVertex
	The relative position of the selected vertex.

CStdColor	m_vSpecular
	The specular color to apply to this part. It is specified as red, green, blue, and alpha.

Detailed Description

Definition at line 18 of file MotorizedJoint.h.

Member Function Documentation

void AnimatSim::Environment::MotorizedJoint::ApplyMotorAssist ( )

protectedvirtual

Applies the motor assist.

Author: David Cofer

Date: 1/25/2014

Reimplemented in BulletAnimatSim::Environment::Joints::BlHinge, and BulletAnimatSim::Environment::Joints::BlPrismatic.

Definition at line 1346 of file MotorizedJoint.cpp.

int AnimatSim::Environment::MotorizedJoint::AssistCountdown ( )

virtual

Gets the assist countdown.

Countdown timer till we can begin applying motor assist. Once a motor is turned on we wait for this many time steps before checking if its velocity matches the desired velocity. This is so the part has a chanct to start moving and so we do not apply additional forces if it is not required.

Author: David Cofer

Date: 1/25/2014

Returns: coundown timer value.

Definition at line 551 of file MotorizedJoint.cpp.

References m_iAssistCountdown.

void AnimatSim::Environment::MotorizedJoint::AssistCountdown ( int iVal )

virtual

Sets the assist countdown.

Author: David Cofer

Date: 1/25/2014

Parameters

iVal	The coundown value.

Definition at line 562 of file MotorizedJoint.cpp.

References m_iAssistCountdown, and StdUtils::Std_IsAboveMin().

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CStdPID * AnimatSim::Environment::MotorizedJoint::AssistPid ( )

virtual

Gets a pointer to the motor assist pid controller.

Author: David Cofer

Date: 1/25/2014

Returns: Pointer to PID object.

Definition at line 948 of file MotorizedJoint.cpp.

References m_lpAssistPid.

void AnimatSim::Environment::MotorizedJoint::ClearAssistForces ( )

protectedvirtual

Clears the assist forces.

Author: David Cofer

Date: 1/25/2014

Definition at line 1319 of file MotorizedJoint.cpp.

References m_fltMotorAssistMagnitude, m_fltMotorAssistMagnitudeReport, m_lpAssistPid, m_vMotorAssistForceToA, m_vMotorAssistForceToAReport, m_vMotorAssistForceToB, m_vMotorAssistForceToBReport, m_vMotorAssistTorqueToA, m_vMotorAssistTorqueToAReport, m_vMotorAssistTorqueToB, m_vMotorAssistTorqueToBReport, m_vMotorForceToA, m_vMotorForceToB, m_vMotorTorqueToA, and m_vMotorTorqueToB.

Referenced by ResetSimulation().

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float AnimatSim::Environment::MotorizedJoint::DesiredPosition ( )

virtual

Gets the desired Position.

Author: dcofer

Date: 3/22/2011

Returns: Desired Position.

Definition at line 353 of file MotorizedJoint.cpp.

References m_fltDesiredPosition.

Referenced by AnimatSim::ExternalStimuli::MotorStimulus::StepSimulation().

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void AnimatSim::Environment::MotorizedJoint::DesiredPosition ( float fltPosition )

virtual

Sets the desired Position.

Author: dcofer

Date: 6/17/2014

Parameters

fltPosition The new Position.

Definition at line 366 of file MotorizedJoint.cpp.

References m_fltDesiredPosition.

float AnimatSim::Environment::MotorizedJoint::DesiredVelocity ( )

virtual

Gets the desired velocity.

Author: dcofer

Date: 3/22/2011

Returns: Desired velocity.

Definition at line 480 of file MotorizedJoint.cpp.

References m_fltDesiredVelocity, and m_fltMaxVelocity.

Referenced by AnimatSim::ExternalStimuli::MotorStimulus::Activate(), AnimatSim::ExternalStimuli::MotorStimulus::Deactivate(), and AnimatSim::ExternalStimuli::MotorStimulus::StepSimulation().

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void AnimatSim::Environment::MotorizedJoint::DesiredVelocity ( float fltVelocity )

virtual

Sets the desired velocity.

Author: dcofer

Date: 3/22/2011

Parameters

fltVelocity The new velocity.

Definition at line 501 of file MotorizedJoint.cpp.

References m_fltDesiredVelocity.

void AnimatSim::Environment::MotorizedJoint::EnableFeedback ( )

protectedvirtual

Enables joint feedback.

Author: David Cofer

Date: 1/25/2014

Reimplemented in BulletAnimatSim::Environment::Joints::BlHinge, and BulletAnimatSim::Environment::Joints::BlPrismatic.

Definition at line 1355 of file MotorizedJoint.cpp.

void AnimatSim::Environment::MotorizedJoint::EnableLock	(	bool	bOn,
		float	fltPosition,
		float	fltMaxLockForce
	)

virtual

Enables/disables the motor lock.

If you enable the motor lock then this locks the joint at the specified location. Only a force greater than fltMaxLockForce will be able to move it from this position.

Author: dcofer

Date: 4/3/2011

Parameters

bOn	true to on.
fltPosition	The flt position.
fltMaxLockForce	The flt maximum lock force.

Definition at line 1057 of file MotorizedJoint.cpp.

References m_lpPhysicsMotorJoint.

bool AnimatSim::Environment::MotorizedJoint::EnableMotor ( )

virtual

Tells if the motor is enabled.

Author: dcofer

Date: 3/22/2011

Returns: true if it is enabled, false otherwise.

Definition at line 132 of file MotorizedJoint.cpp.

References m_bEnableMotor.

Referenced by AnimatSim::ExternalStimuli::MotorStimulus::Activate(), AnimatSim::ExternalStimuli::MotorStimulus::Deactivate(), AnimatSim::Environment::Joints::Prismatic::Enabled(), AnimatSim::Environment::Joints::Hinge::Enabled(), AnimatSim::Environment::Structure::EnableMotor(), and ResetSimulation().

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void AnimatSim::Environment::MotorizedJoint::EnableMotor ( bool bVal )

virtual

Enables the motor.

If this is a motorized joint then when you turn it on the physics engine will calculate the torque that needs to be applied to this joint in order for it to have the desired Velocity for its current load.

Author: dcofer

Date: 3/22/2011

Parameters

bVal	true to enable.

Definition at line 147 of file MotorizedJoint.cpp.

References m_bEnableMotor, m_bEnableMotorInit, m_fltDesiredVelocity, m_fltMaxForce, m_lpPhysicsMotorJoint, AnimatSim::AnimatBase::m_lpSim, AnimatSim::Environment::IMotorizedJoint::Physics_EnableMotor(), and AnimatSim::Simulator::SimRunning().

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void AnimatSim::Environment::MotorizedJoint::Initialize ( )

virtual

Initializes this object.

After an object is loaded in it must be initialized before it can be used. This allows the object to retrieve any pointers or setup memory that it will need during execution. Each object is responsible for initializing any of its child objects, so you simply need to call this method on the containing class to init all child objects. It also calls VerifySystemPointers to make sure that the system pointers have been setup correctly.

Author: dcofer

Date: 3/1/2011

Reimplemented from AnimatSim::Environment::Joint.

Definition at line 1063 of file MotorizedJoint.cpp.

References AnimatSim::Simulator::DistanceUnits(), AnimatSim::Environment::Joint::Initialize(), m_fltSetPositionDeltaCheck, AnimatSim::AnimatBase::m_lpSim, and AnimatSim::Environment::Joint::UsesRadians().

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void AnimatSim::Environment::MotorizedJoint::MaxForce	(	float	fltVal,
		bool	bUseScaling = `true`
	)

virtual

Sets the Maximum torque.

Author: dcofer

Date: 3/24/2011

Parameters

fltVal	The new value.
bUseScaling	true to use unit scaling.

Definition at line 224 of file MotorizedJoint.cpp.

References AnimatSim::Simulator::InverseDistanceUnits(), AnimatSim::Simulator::InverseMassUnits(), m_fltMaxForce, m_fltMaxForceNotScaled, m_lpPhysicsMotorJoint, AnimatSim::AnimatBase::m_lpSim, AnimatSim::Environment::IMotorizedJoint::Physics_MaxForce(), StdUtils::Std_IsAboveMin(), and AnimatSim::Environment::Joint::UsesRadians().

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float AnimatSim::Environment::MotorizedJoint::MaxForce ( )

virtual

Gets the maximum torque.

Author: dcofer

Date: 3/24/2011

Returns: Maximum torque the motor can apply.

Definition at line 259 of file MotorizedJoint.cpp.

References m_fltMaxForce.

float AnimatSim::Environment::MotorizedJoint::MaxForceNotScaled ( )

virtual

Gets the maximum force/torque a motor can apply. This is the unscaled value.

Author: dcofer

Date: 3/24/2011

Returns: unscaled Maximum torque the motor can apply.

Definition at line 269 of file MotorizedJoint.cpp.

References m_fltMaxForceNotScaled.

float AnimatSim::Environment::MotorizedJoint::MaxVelocity ( )

virtual

Gets the maximum velocity.

Author: dcofer

Date: 3/22/2011

Returns: Maximum motor velocity that is allowed.

Definition at line 279 of file MotorizedJoint.cpp.

References m_fltMaxVelocity.

void AnimatSim::Environment::MotorizedJoint::MaxVelocity	(	float	fltVal,
		bool	bUseScaling = `true`
	)

virtual

Sets the maximum velocity allowed by the motorized joint.

Author: dcofer

Date: 3/22/2011

Parameters

fltVal	The new value.
bUseScaling	true to use unit scaling.

Definition at line 290 of file MotorizedJoint.cpp.

References AnimatSim::Simulator::InverseDistanceUnits(), m_fltMaxVelocity, AnimatSim::AnimatBase::m_lpSim, StdUtils::Std_IsAboveMin(), and AnimatSim::Environment::Joint::UsesRadians().

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CStdFPoint AnimatSim::Environment::MotorizedJoint::MotorAssistForceToA ( )

virtual

Gets the force vector that the motor assist is applying to body A. (scaled units).

Author: David Cofer

Date: 1/25/2014

Returns: Assist output.

Definition at line 623 of file MotorizedJoint.cpp.

References m_vMotorAssistForceToA.

void AnimatSim::Environment::MotorizedJoint::MotorAssistForceToA ( CStdFPoint & vVal )

virtual

Sets the force vector that the motor assist is applying to body A. (scaled units).

Author: David Cofer

Date: 1/25/2014

Parameters

[in,out] vVal The input value.

Definition at line 634 of file MotorizedJoint.cpp.

References m_vMotorAssistForceToA.

CStdFPoint AnimatSim::Environment::MotorizedJoint::MotorAssistForceToAReport ( )

virtual

Gets the force vector that the motor assist is applying to body A. (un-scaled units). This is used for reporting purposes.

Author: David Cofer

Date: 1/25/2014

Returns: Assist output.

Definition at line 646 of file MotorizedJoint.cpp.

References m_vMotorAssistForceToAReport.

void AnimatSim::Environment::MotorizedJoint::MotorAssistForceToAReport ( CStdFPoint & vVal )

virtual

Sets the force vector that the motor assist is applying to body A. (un-scaled units). This is used for reporting purposes.

Author: David Cofer

Date: 1/25/2014

Parameters

[in,out] vVal The input value.

Definition at line 658 of file MotorizedJoint.cpp.

References m_vMotorAssistForceToAReport.

CStdFPoint AnimatSim::Environment::MotorizedJoint::MotorAssistForceToB ( )

virtual

Gets the force vector that the motor assist is applying to body B. (scaled units).

Author: David Cofer

Date: 1/25/2014

Returns: Assist output.

Definition at line 716 of file MotorizedJoint.cpp.

References m_vMotorAssistForceToB.

void AnimatSim::Environment::MotorizedJoint::MotorAssistForceToB ( CStdFPoint & vVal )

virtual

Sets the force vector that the motor assist is applying to body B. (scaled units).

Author: David Cofer

Date: 1/25/2014

Parameters

[in,out] vVal The input value.

Definition at line 727 of file MotorizedJoint.cpp.

References m_vMotorAssistForceToB.

CStdFPoint AnimatSim::Environment::MotorizedJoint::MotorAssistForceToBReport ( )

virtual

Gets the force vector that the motor assist is applying to body B. (scaled units). This is used for reporting purposes.

Author: David Cofer

Date: 1/25/2014

Returns: Assist output.

Definition at line 739 of file MotorizedJoint.cpp.

References m_vMotorAssistForceToBReport.

void AnimatSim::Environment::MotorizedJoint::MotorAssistForceToBReport ( CStdFPoint & vVal )

virtual

Sets the force vector that the motor assist is applying to body B. (un-scaled units). This is used for reporting purposes.

Author: David Cofer

Date: 1/25/2014

Parameters

[in,out] vVal The input value.

Definition at line 751 of file MotorizedJoint.cpp.

References m_vMotorAssistForceToBReport.

CStdFPoint AnimatSim::Environment::MotorizedJoint::MotorAssistTorqueToA ( )

virtual

Gets the torque vector that the motor assist is applying to body A. (scaled units).

Author: David Cofer

Date: 1/25/2014

Returns: Assist output.

Definition at line 809 of file MotorizedJoint.cpp.

References m_vMotorAssistTorqueToA.

void AnimatSim::Environment::MotorizedJoint::MotorAssistTorqueToA ( CStdFPoint & vVal )

virtual

Sets the torque vector that the motor assist is applying to body A. (scaled units).

Author: David Cofer

Date: 1/25/2014

Parameters

[in,out] vVal The input value.

Definition at line 820 of file MotorizedJoint.cpp.

References m_vMotorAssistTorqueToA.

CStdFPoint AnimatSim::Environment::MotorizedJoint::MotorAssistTorqueToAReport ( )

virtual

Gets the torque vector that the motor assist is applying to body A. (un-scaled units). This is used for reporting purposes.

Author: David Cofer

Date: 1/25/2014

Returns: Assist output.

Definition at line 832 of file MotorizedJoint.cpp.

References m_vMotorAssistTorqueToAReport.

void AnimatSim::Environment::MotorizedJoint::MotorAssistTorqueToAReport ( CStdFPoint & vVal )

virtual

Sets the torque vector that the motor assist is applying to body A. (un-scaled units). This is used for reporting purposes.

Author: David Cofer

Date: 1/25/2014

Parameters

[in,out] vVal The input value.

Definition at line 844 of file MotorizedJoint.cpp.

References m_vMotorAssistTorqueToAReport.

CStdFPoint AnimatSim::Environment::MotorizedJoint::MotorAssistTorqueToB ( )

virtual

Gets the torque vector that the motor assist is applying to body B. (scaled units).

Author: David Cofer

Date: 1/25/2014

Returns: Assist output.

Definition at line 902 of file MotorizedJoint.cpp.

References m_vMotorAssistTorqueToB.

void AnimatSim::Environment::MotorizedJoint::MotorAssistTorqueToB ( CStdFPoint & vVal )

virtual

Sets the torque vector that the motor assist is applying to body B. (scaled units).

Author: David Cofer

Date: 1/25/2014

Parameters

[in,out] vVal The input value.

Definition at line 913 of file MotorizedJoint.cpp.

References m_vMotorAssistTorqueToB.

CStdFPoint AnimatSim::Environment::MotorizedJoint::MotorAssistTorqueToBReport ( )

virtual

Gets the torque vector that the motor assist is applying to body B. (un-scaled units). This is used for reporting purposes.

Author: David Cofer

Date: 1/25/2014

Returns: Assist output.

Definition at line 925 of file MotorizedJoint.cpp.

References m_vMotorAssistTorqueToBReport.

void AnimatSim::Environment::MotorizedJoint::MotorAssistTorqueToBReport ( CStdFPoint & vVal )

virtual

Sets the torque vector that the motor assist is applying to body B. (un-scaled units). This is used for reporting purposes.

Author: David Cofer

Date: 1/25/2014

Parameters

[in,out] vVal The input value.

Definition at line 937 of file MotorizedJoint.cpp.

References m_vMotorAssistTorqueToBReport.

CStdFPoint AnimatSim::Environment::MotorizedJoint::MotorForceToA ( )

virtual

Gets the force vector that the motor is applying to body A. (un-scaled units). This includes any motor assist within it.

Author: David Cofer

Date: 1/25/2014

Returns: un-scaled force vector.

Definition at line 577 of file MotorizedJoint.cpp.

References m_vMotorForceToA.

void AnimatSim::Environment::MotorizedJoint::MotorForceToA ( CStdFPoint & vVal )

virtual

Sets the force vector that the motor is applying to body A. (un-scaled units). This includes any motor assist within it.

Author: David Cofer

Date: 1/25/2014

Parameters

[in,out] vVal The input value.

Definition at line 589 of file MotorizedJoint.cpp.

References m_fltMotorForceAMagnitude, and m_vMotorForceToA.

float AnimatSim::Environment::MotorizedJoint::MotorForceToAMagnitude ( )

virtual

Gets the magnitude of the force that the motor is applying to body A. (scaled units).

Author: David Cofer

Date: 4/25/2014

Returns: Motor force output.

Definition at line 603 of file MotorizedJoint.cpp.

References m_fltMotorForceAMagnitude.

void AnimatSim::Environment::MotorizedJoint::MotorForceToAMagnitude ( float fltVal )

virtual

Sets the magnitude of the force that the motor is applying to body A. (scaled units).

Author: David Cofer

Date: 4/25/2014

Parameters

[in] fltVal The motor force magnitude value.

Definition at line 613 of file MotorizedJoint.cpp.

References m_fltMotorForceAMagnitude.

CStdFPoint AnimatSim::Environment::MotorizedJoint::MotorForceToB ( )

virtual

Gets the force vector that the motor is applying to body B. (un-scaled units). This includes any motor assist within it.

Author: David Cofer

Date: 1/25/2014

Returns: un-scaled force vector.

Definition at line 670 of file MotorizedJoint.cpp.

References m_vMotorForceToB.

void AnimatSim::Environment::MotorizedJoint::MotorForceToB ( CStdFPoint & vVal )

virtual

Sets the force vector that the motor is applying to body B. (un-scaled units). This includes any motor assist within it.

Author: David Cofer

Date: 1/25/2014

Parameters

[in,out] vVal The input value.

Definition at line 682 of file MotorizedJoint.cpp.

References m_fltMotorForceBMagnitude, and m_vMotorForceToB.

float AnimatSim::Environment::MotorizedJoint::MotorForceToBMagnitude ( )

virtual

Gets the magnitude of the force that the motor is applying to body B. (scaled units).

Author: David Cofer

Date: 4/25/2014

Returns: Motor force output.

Definition at line 696 of file MotorizedJoint.cpp.

References m_fltMotorForceBMagnitude.

void AnimatSim::Environment::MotorizedJoint::MotorForceToBMagnitude ( float fltVal )

virtual

Sets the magnitude of the force that the motor is applying to body B. (scaled units).

Author: David Cofer

Date: 4/25/2014

Parameters

[in] fltVal The motor force magnitude value.

Definition at line 706 of file MotorizedJoint.cpp.

References m_fltMotorForceBMagnitude.

void AnimatSim::Environment::MotorizedJoint::MotorInput ( float fltInput )

virtual

Sets the desired velocity.

Author: dcofer

Date: 3/22/2011

Parameters

fltInput The new velocity.

Definition at line 514 of file MotorizedJoint.cpp.

References m_fltDesiredVelocity.

Referenced by AnimatSim::Environment::Structure::SetMotorInput().

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CStdFPoint AnimatSim::Environment::MotorizedJoint::MotorTorqueToA ( )

virtual

Gets the torque vector that the motor is applying to body A. (un-scaled units). This includes any motor assist within it.

Author: David Cofer

Date: 1/25/2014

Returns: un-scaled torque vector.

Definition at line 763 of file MotorizedJoint.cpp.

References m_vMotorTorqueToA.

void AnimatSim::Environment::MotorizedJoint::MotorTorqueToA ( CStdFPoint & vVal )

virtual

Sets the torque vector that the motor is applying to body A. (un-scaled units). This includes any motor assist within it.

Author: David Cofer

Date: 1/25/2014

Parameters

[in,out] vVal The input value.

Definition at line 775 of file MotorizedJoint.cpp.

References m_fltMotorTorqueAMagnitude, and m_vMotorTorqueToA.

float AnimatSim::Environment::MotorizedJoint::MotorTorqueToAMagnitude ( )

virtual

Gets the magnitude of the torque that the motor is applying to body A. (scaled units).

Author: David Cofer

Date: 4/25/2014

Returns: Motor torque output.

Definition at line 789 of file MotorizedJoint.cpp.

References m_fltMotorTorqueAMagnitude.

void AnimatSim::Environment::MotorizedJoint::MotorTorqueToAMagnitude ( float fltVal )

virtual

Sets the magnitude of the torque that the motor is applying to body A. (scaled units).

Author: David Cofer

Date: 4/25/2014

Parameters

[in] fltVal The motor torque magnitude value.

Definition at line 799 of file MotorizedJoint.cpp.

References m_fltMotorTorqueAMagnitude.

CStdFPoint AnimatSim::Environment::MotorizedJoint::MotorTorqueToB ( )

virtual

Gets the torque vector that the motor is applying to body B. (un-scaled units). This includes any motor assist within it.

Author: David Cofer

Date: 1/25/2014

Returns: un-scaled torque vector.

Definition at line 856 of file MotorizedJoint.cpp.

References m_vMotorTorqueToB.

void AnimatSim::Environment::MotorizedJoint::MotorTorqueToB ( CStdFPoint & vVal )

virtual

Sets the torque vector that the motor is applying to body B. (un-scaled units). This includes any motor assist within it.

Author: David Cofer

Date: 1/25/2014

Parameters

[in,out] vVal The input value.

Definition at line 868 of file MotorizedJoint.cpp.

References m_fltMotorTorqueBMagnitude, and m_vMotorTorqueToB.

float AnimatSim::Environment::MotorizedJoint::MotorTorqueToBMagnitude ( )

virtual

Gets the magnitude of the torque that the motor is applying to body B. (scaled units).

Author: David Cofer

Date: 4/25/2014

Returns: Motor torque output.

Definition at line 882 of file MotorizedJoint.cpp.

References m_fltMotorTorqueBMagnitude.

void AnimatSim::Environment::MotorizedJoint::MotorTorqueToBMagnitude ( float fltVal )

virtual

Sets the magnitude of the torque that the motor is applying to body B. (scaled units).

Author: David Cofer

Date: 4/25/2014

Parameters

[in] fltVal The motor torque magnitude value.

Definition at line 892 of file MotorizedJoint.cpp.

References m_fltMotorTorqueBMagnitude.

void AnimatSim::Environment::MotorizedJoint::MotorType ( eJointMotorType eServo )

virtual

Sets the type of motor to use for this joint.

The standard motor type is velocity controlled. A position controlled servo allows the user to specify the desired position and the motor tries to get to that position as fast as possible. A position and velocity controlled servo allows the user to specify the desired positin and the desired velocity magnitude. The servo will attempt to move to the desired position at the specified speed. Once it reaches that position it will attemp to maintain it. Any supplied desired velocity values will use only the magnitude portion and determine the direction of movmeent based on the current position and desired position.

Author: dcofer

Date: 6/16/2014

Parameters

eServo motor type.

Definition at line 173 of file MotorizedJoint.cpp.

References m_eMotorType.

eJointMotorType AnimatSim::Environment::MotorizedJoint::MotorType ( )

virtual

Gets the type of motor to use for this joint.

The standard motor type is velocity controlled. A position controlled servo allows the user to specify the desired position and the motor tries to get to that position as fast as possible. A position and velocity controlled servo allows the user to specify the desired positin and the desired velocity magnitude. The servo will attempt to move to the desired position at the specified speed. Once it reaches that position it will attemp to maintain it. Any supplied desired velocity values will use only the magnitude portion and determine the direction of movmeent based on the current position and desired position.

Author: dcofer

Date: 6/16/2014

Returns: motor type enum value.

Definition at line 189 of file MotorizedJoint.cpp.

References m_eMotorType.

IMotorizedJoint * AnimatSim::Environment::MotorizedJoint::PhysicsMotorJoint ( )

virtual

Gets the physics body interface pointer. This is an interface reference to the Vs version of this object. It will allow us to call methods directly in the Vs (OSG) version of the object directly without having to overload a bunch of methods in each joint..

Author: dcofer

Date: 3/2/2011

Returns: Pointer to Vs interface, NULL else.

Definition at line 107 of file MotorizedJoint.cpp.

References m_lpPhysicsMotorJoint.

void AnimatSim::Environment::MotorizedJoint::PhysicsMotorJoint ( IMotorizedJoint * lpJoint )

virtual

Sets the physics motorized joint interface pointer. This is an interface reference to the Vs version of this object. It will allow us to call methods directly in the Vs (OSG) version of the object directly without having to overload a bunch of methods in each joint..

Author: dcofer

Date: 3/2/2011

Parameters

[in,out] lpBody The pointer to the phsyics body interface.

Definition at line 119 of file MotorizedJoint.cpp.

References m_lpPhysicsMotorJoint.

float AnimatSim::Environment::MotorizedJoint::PrevSetPosition ( )

virtual

Gets the previous set position.

Author: dcofer

Date: 6/17/2014

Returns: previous set Position.

Definition at line 379 of file MotorizedJoint.cpp.

References m_fltPrevSetPosition.

void AnimatSim::Environment::MotorizedJoint::PrevSetPosition ( float fltVal )

virtual

Sets the previous desired Position.

Author: dcofer

Date: 6/17/2014

Parameters

fltVal The prev Position.

Definition at line 389 of file MotorizedJoint.cpp.

References m_fltPrevSetPosition.

float AnimatSim::Environment::MotorizedJoint::PrevSetVelocity ( )

virtual

Gets the previous set etVelocity.

Author: dcofer

Date: 6/17/2014

Returns: previous set etVelocity.

Definition at line 460 of file MotorizedJoint.cpp.

References m_fltPrevSetVelocity.

void AnimatSim::Environment::MotorizedJoint::PrevSetVelocity ( float fltVal )

virtual

Sets the previous desired velocity.

Author: dcofer

Date: 8/27/2014

Parameters

fltVal The prev etVelocity.

Definition at line 470 of file MotorizedJoint.cpp.

References m_fltPrevSetVelocity.

float AnimatSim::Environment::MotorizedJoint::PrevVelocity ( )

virtual

Sets the previous velocity that is actually used by the physics method.

Author: dcofer

Date: 3/22/2011

Returns: The previous velocity that was set.

Definition at line 527 of file MotorizedJoint.cpp.

References m_fltPrevVelocity.

void AnimatSim::Environment::MotorizedJoint::PrevVelocity ( float fltVal )

virtual

Sets the previous velocity that is actually used by the physics method.

Author: dcofer

Date: 4/1/2011

Parameters

fltVal The previous value.

Definition at line 537 of file MotorizedJoint.cpp.

References m_fltPrevVelocity.

bool AnimatSim::Environment::MotorizedJoint::ReachedSetPosition ( )

virtual

Gets whether the servo motor has reached its target position. If it has then it switches to position only control until the user sets a new target position.

Author: dcofer

Date: 6/17/2014

Returns: True if the motor has reached its target position.

Definition at line 400 of file MotorizedJoint.cpp.

References m_bReachedSetPos.

void AnimatSim::Environment::MotorizedJoint::ReachedSetPosition ( bool bVal )

virtual

whether the servo motor has reached its target position.

Author: dcofer

Date: 6/17/2014

Parameters

bVal	True when it has reached its target position.

Definition at line 410 of file MotorizedJoint.cpp.

References m_bReachedSetPos.

void AnimatSim::Environment::MotorizedJoint::ResetSimulation ( )

virtual

Resets the simulation back to time 0.

This method calls the ResetSimulation method on all subitems in order to reset the simulation back to the beginning.

Author: dcofer

Date: 3/1/2011

Reimplemented from AnimatSim::Environment::Joint.

Reimplemented in AnimatSim::Environment::Joints::Hinge, BulletAnimatSim::Environment::Joints::BlHinge, BulletAnimatSim::Environment::Joints::BlPrismatic, RoboticsAnimatSim::Environment::Joints::RbHinge, and RoboticsAnimatSim::Environment::Joints::RbPrismatic.

Definition at line 1071 of file MotorizedJoint.cpp.

References ClearAssistForces(), AnimatSim::Simulator::DistanceUnits(), EnableMotor(), m_bEnableMotorInit, m_bReachedSetPos, m_fltDesiredPosition, m_fltDesiredVelocity, m_fltMotorForceAMagnitude, m_fltMotorForceBMagnitude, m_fltMotorTorqueAMagnitude, m_fltMotorTorqueBMagnitude, m_fltPrevSetPosition, m_fltPrevVelocity, m_fltReportSetPosition, m_fltReportSetVelocity, m_fltSetPosition, m_fltSetPositionDeltaCheck, m_fltSetVelocity, m_iAssistCountdown, m_lpAssistPid, AnimatSim::AnimatBase::m_lpSim, AnimatSim::AnimatBase::Reset(), AnimatSim::Environment::Joint::ResetSimulation(), and AnimatSim::Environment::Joint::UsesRadians().

Referenced by AnimatSim::Environment::Joints::Hinge::ResetSimulation().

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RobotPartInterface * AnimatSim::Environment::MotorizedJoint::RobotMotorControl ( )

virtual

Gets the robot motor control interface.

Author: David Cofer

Date: 6/19/2014

Returns: Pointer to the motor control interface.

Definition at line 1014 of file MotorizedJoint.cpp.

References m_lpRobotMotorControl.

void AnimatSim::Environment::MotorizedJoint::ServoGain ( float fltVal )

virtual

Sets the servo gain used to calculate the new velocity for maintaining a position with a servo motor.

Author: dcofer

Date: 3/24/2011

Parameters

fltVal The new gain value.

Definition at line 199 of file MotorizedJoint.cpp.

References m_ftlServoGain, and StdUtils::Std_IsAboveMin().

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float AnimatSim::Environment::MotorizedJoint::ServoGain ( )

virtual

Gets the servo gain.

Author: dcofer

Date: 3/24/2011

Returns: Servo gain.

Definition at line 213 of file MotorizedJoint.cpp.

References m_ftlServoGain.

float AnimatSim::Environment::MotorizedJoint::SetPosition ( )

virtual

Gets the position that is actually set using the physics method.

Author: dcofer

Date: 6/16/2014

Returns: The position that was set.

Definition at line 308 of file MotorizedJoint.cpp.

References m_fltSetPosition.

void AnimatSim::Environment::MotorizedJoint::SetPosition ( float fltVal )

virtual

Sets the Position that is actually set using the physics method.

Author: dcofer

Date: 4/1/2011

Parameters

fltVal The new value.

Definition at line 318 of file MotorizedJoint.cpp.

References AnimatSim::Simulator::DistanceUnits(), AnimatSim::Simulator::InSimulation(), m_bReachedSetPos, m_fltPrevSetPosition, m_fltReportSetPosition, m_fltSetPosition, m_fltSetPositionDeltaCheck, m_lpRobotMotorControl, AnimatSim::AnimatBase::m_lpSim, AnimatSim::AnimatBase::m_lpStructure, AnimatSim::Robotics::RobotPartInterface::QuantizeServoPosition(), AnimatSim::Robotics::RobotInterface::SynchSim(), and AnimatSim::Environment::Joint::UsesRadians().

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float AnimatSim::Environment::MotorizedJoint::SetVelocity ( )

virtual

Gets the velocity that is actually set using the physics method.

Author: dcofer

Date: 3/22/2011

Returns: The velocity that was set.

Definition at line 420 of file MotorizedJoint.cpp.

References m_fltSetVelocity.

Referenced by BulletAnimatSim::Environment::Joints::BlPrismatic::ApplyMotorAssist(), and BulletAnimatSim::Environment::Joints::BlHinge::ApplyMotorAssist().

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void AnimatSim::Environment::MotorizedJoint::SetVelocity ( float fltVal )

virtual

Sets the velocity that is actually set using the physics method.

Author: dcofer

Date: 4/1/2011

Parameters

fltVal The new value.

Definition at line 430 of file MotorizedJoint.cpp.

References AnimatSim::Simulator::DistanceUnits(), AnimatSim::Simulator::InSimulation(), m_fltPrevSetVelocity, m_fltReportSetVelocity, m_fltSetVelocity, m_lpRobotMotorControl, AnimatSim::AnimatBase::m_lpSim, AnimatSim::AnimatBase::m_lpStructure, AnimatSim::Robotics::RobotPartInterface::QuantizeServoVelocity(), AnimatSim::Robotics::RobotInterface::SynchSim(), and AnimatSim::Environment::Joint::UsesRadians().

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void AnimatSim::Environment::MotorizedJoint::SetVelocityToDesired ( )

virtual

Sets the desired velocity to use for the motor.

Author: dcofer

Date: 4/3/2011

Definition at line 1038 of file MotorizedJoint.cpp.

References m_lpPhysicsMotorJoint.

Referenced by RoboticsAnimatSim::Environment::Joints::RbPrismatic::StepSimulation(), VortexAnimatSim::Environment::Joints::VsPrismatic::StepSimulation(), RoboticsAnimatSim::Environment::Joints::RbHinge::StepSimulation(), BulletAnimatSim::Environment::Joints::BlPrismatic::StepSimulation(), BulletAnimatSim::Environment::Joints::BlHinge::StepSimulation(), and VortexAnimatSim::Environment::Joints::VsHinge::StepSimulation().

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float AnimatSim::Environment::MotorizedJoint::Temperature ( )

virtual

Gets the motor temperature.

Author: David Cofer

Date: 4/25/2014

Returns: motor temperature.

Definition at line 959 of file MotorizedJoint.cpp.

void AnimatSim::Environment::MotorizedJoint::Temperature ( float fltVal )

virtual

Sets the motor temperature.

Author: David Cofer

Date: 4/25/2014

Parameters

[in] fltVal The temperature value.

Definition at line 969 of file MotorizedJoint.cpp.

References StdUtils::Std_IsAboveMin().

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float AnimatSim::Environment::MotorizedJoint::Voltage ( )

virtual

Gets the motor voltage.

Author: David Cofer

Date: 4/25/2014

Returns: motor voltage.

Definition at line 984 of file MotorizedJoint.cpp.

void AnimatSim::Environment::MotorizedJoint::Voltage ( float fltVal )

virtual

Sets the motor voltage.

Author: David Cofer

Date: 4/25/2014

Parameters

[in] fltVal The voltage value.

Definition at line 994 of file MotorizedJoint.cpp.

Member Data Documentation

bool AnimatSim::Environment::MotorizedJoint::m_bEnableMotorInit

protected

Tells whether the motor was enabled when the sim started. This is used when resetting the simulation back to its initial settings.

Definition at line 75 of file MotorizedJoint.h.

Referenced by AnimatSim::Environment::Joints::Prismatic::Enabled(), AnimatSim::Environment::Joints::Hinge::Enabled(), EnableMotor(), and ResetSimulation().

bool AnimatSim::Environment::MotorizedJoint::m_bReachedSetPos

protected

Once a servo reaches its set position this is set to true to go to position only control to maintain that position. If the user sets a different target position then this is reset until it reaches that new location.

Definition at line 43 of file MotorizedJoint.h.

Referenced by ReachedSetPosition(), ResetSimulation(), and SetPosition().

float AnimatSim::Environment::MotorizedJoint::m_fltDesiredPosition

protected

This is the desired position of a motorized servo motor. IE the target position we are shooting for. The Desired position must get reset at each time step to zero, so it can be added to using AddExternalInput for the next time step. m_fltSetPosition then keeps track of what we set the position of the motor to be. Positions can be in rad or m depending on the type of joint. UsesRadians lets you know whether it is using radians.

Definition at line 32 of file MotorizedJoint.h.

Referenced by AnimatSim::Environment::Joints::Prismatic::AddExternalNodeInput(), AnimatSim::Environment::Joints::Hinge::AddExternalNodeInput(), DesiredPosition(), ResetSimulation(), and AnimatSim::Environment::Joints::Hinge::UpdateData().

float AnimatSim::Environment::MotorizedJoint::m_fltDesiredVelocity

protected

This is the desired velocity of the motorized joint. IE the target we are shooting for. The Desired velocity must get reset at each time step to zero, so it can be added to using AddExternalInput for the next time step. m_fltSetVelocity then keeps track of what we set the velocity of the motor to be. Velocities can be in rad/sec or m/s depending on the type of joint. UsesRadians lets you know whether it is using radians.

Definition at line 57 of file MotorizedJoint.h.

Referenced by AnimatSim::Environment::Joints::Prismatic::AddExternalNodeInput(), AnimatSim::Environment::Joints::Hinge::AddExternalNodeInput(), DesiredVelocity(), EnableMotor(), MotorInput(), and ResetSimulation().

float AnimatSim::Environment::MotorizedJoint::m_fltMaxForce

protected

The maximum force/torque that the motor can apply. Whether this is force or torque depends on whether the joint uses radians or not.

Definition at line 79 of file MotorizedJoint.h.

Referenced by EnableMotor(), and MaxForce().

float AnimatSim::Environment::MotorizedJoint::m_fltMaxVelocity

protected

The maximum velocity that the motorized joint can attain. Velocities can be in rad/sec or m/s depending on the type of joint. UsesRadians lets you know whether it is using radians.

Definition at line 64 of file MotorizedJoint.h.

Referenced by DesiredVelocity(), and MaxVelocity().

float AnimatSim::Environment::MotorizedJoint::m_fltPrevSetPosition

protected

The previous position set for the motorized joint in the last time step. Positions can be in rad or m depending on the type of joint. UsesRadians lets you know whether it is using radians.

Definition at line 39 of file MotorizedJoint.h.

Referenced by PrevSetPosition(), ResetSimulation(), and SetPosition().

float AnimatSim::Environment::MotorizedJoint::m_fltPrevVelocity

protected

The previous velocity of the motorized joint in the last time step. Velocities can be in rad/sec or m/s depending on the type of joint. UsesRadians lets you know whether it is using radians.

Definition at line 68 of file MotorizedJoint.h.

Referenced by PrevVelocity(), and ResetSimulation().

float AnimatSim::Environment::MotorizedJoint::m_fltSetPosition

protected

This is set position for a servo motor. The motor must be set to servo and enabled. This will be set based on the desired position passed into the joint using the AddExternalInput method.

Definition at line 26 of file MotorizedJoint.h.

Referenced by ResetSimulation(), and SetPosition().

float AnimatSim::Environment::MotorizedJoint::m_fltSetVelocity

protected

This is the velocity to use for the motorized joint. The motor must be enabled for this parameter to have any effect. Velocities can be in rad/sec or m/s depending on the type of joint. UsesRadians lets you know whether it is using radians.

Definition at line 48 of file MotorizedJoint.h.

Referenced by ResetSimulation(), and SetVelocity().

int AnimatSim::Environment::MotorizedJoint::m_iAssistCountdown

protected

Countdown timer till we can begin applying motor assist. Once a motor is turned on we wait for this many time steps before checking if its velocity matches the desired velocity. This is so the part has a chanct to start moving and so we do not apply additional forces if it is not required.

Definition at line 93 of file MotorizedJoint.h.

Referenced by BulletAnimatSim::Environment::Joints::BlPrismatic::ApplyMotorAssist(), BulletAnimatSim::Environment::Joints::BlHinge::ApplyMotorAssist(), AssistCountdown(), and ResetSimulation().

CStdFPoint AnimatSim::Environment::MotorizedJoint::m_vMotorForceToA

protected

Force vector that the motor is applying to body A. (un-scaled units). This includes any motor assist within it.

Definition at line 97 of file MotorizedJoint.h.

Referenced by ClearAssistForces(), and MotorForceToA().

CStdFPoint AnimatSim::Environment::MotorizedJoint::m_vMotorForceToB

protected

Force vector that the motor is applying to body B. (un-scaled units). This includes any motor assist within it.

Definition at line 110 of file MotorizedJoint.h.

Referenced by ClearAssistForces(), and MotorForceToB().