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rdGeneralizedForce Class Reference

A class that supports the application of a generalized force to a model. More...

#include <rdGeneralizedForce.h>

Inheritance diagram for rdGeneralizedForce:

List of all members.

Public Member Functions
	rdGeneralizedForce (int aQID=-1, int aNX=1, int aNY=0, int aNYP=0)
	Default constructor.
	rdGeneralizedForce (IDOM_Element *aElement, int aNX=1, int aNY=0, int aNYP=0)
	Construct the actuator from an XML element.
	rdGeneralizedForce (const rdGeneralizedForce &aGenForce)
	Copy constructor.
virtual	~rdGeneralizedForce ()
	Destructor.
virtual rdActuator *	copy () const
	Copy this actuator and return a pointer to the copy.
virtual rdActuator *	copy (IDOM_Element *aElement) const
	Copy this actuator and modify the copy so that it is consistent with a specified XML element node.
rdGeneralizedForce &	operator= (const rdGeneralizedForce &aGenForce)
	Assignment operator.
virtual void	setControls (const double aX[])
	Set the current values of the controls.
virtual void	getControls (double rX[]) const
	Get the current values of the controls.
void	setQID (int aQID)
	Set the generalized coordinate to which the generalized force is applied.
int	getQID () const
	Get the ID of the generalized coordinate to which the generalized force is applied.
virtual void	apply ()
	Apply the actuator force to BodyA and BodyB.
virtual void	computeActuation ()
	Compute all quantities necessary for applying the actuator force to the model.
virtual bool	check () const
	Check that this generalized force actuator is valid.
virtual bool	isQIDValid () const
	Is the.
virtual void	updateObject (bool aDeep=true)
	Update this object based on its XML node.
virtual void	updateNode (bool aDeep=true)
	Update the XML node representing this object.
virtual void	generateNode (IDOM_Element *aParent)
	Generate an XML node representing this object.
void	updateData ()
	Update the member data of this object based on its XML node.
Static Public Attributes
const char	PROP_QID [] = "QID"
Protected Attributes
int	_qID
	Coordinate to which the generalized force is applied.
double *	_utmp
	Temporary work array for holding generalized speeds.
Private Member Functions
void	setNull ()
	Set the data members of this actuator to their null values.

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Detailed Description

A class that supports the application of a generalized force to a model.

This actuator has no states; the control is simply the force to be applied to the model.

Author:

Frank C. Anderson

Version:

1.0

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Constructor & Destructor Documentation

rdGeneralizedForce::rdGeneralizedForce (  IDOM_Element *  aElement, int  aNX = 1, int  aNY = 0, int  aNYP = 0 )

Construct the actuator from an XML element. Parameters: aElement  XML element. aNX  Number of controls. aNY  Number of states. aNYP  Number of pseudo-states.

rdGeneralizedForce::rdGeneralizedForce (  const rdGeneralizedForce &  aGenForce  )

Copy constructor. Parameters: aForce  Force to be copied.

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Member Function Documentation

bool rdGeneralizedForce::check (   )  const [virtual]

Check that this generalized force actuator is valid. Returns: True if valid, false if invalid. Reimplemented from rdActuator.

rdActuator * rdGeneralizedForce::copy (  IDOM_Element *  aElement  )  const [virtual]

Copy this actuator and modify the copy so that it is consistent with a specified XML element node. The copy is constructed by first using rdForce::rdForce(IDOM_Element*,int,int) in order to establish the relationship of the rdForce object with the XML node. Then, the assignment operator is used to set all data members of the copy to the values of this rdForce object. Finally, the data members of the copy are updated using rdForce::updateObject(). Parameters: aElement  XML element. Returns: Pointer to a copy of this actuator. Implements rdActuator. Reimplemented in rdGeneralizedForceAtv, and suSpringGeneralizedForce.

rdActuator * rdGeneralizedForce::copy (   )  const [virtual]

Copy this actuator and return a pointer to the copy. The copy constructor for this class is used. Returns: Pointer to a copy of this actuator. Implements rdActuator. Reimplemented in rdGeneralizedForceAtv, and suSpringGeneralizedForce.

void rdGeneralizedForce::generateNode (  IDOM_Element *  aParent  )  [virtual]

Generate an XML node representing this object. Parameters: aParent  Intended parent of the node to be generated. If aParent is NULL, the intent is for this object to serve as the root element of a new document. See also: rdObject::generateNode() Reimplemented from rdActuator. Reimplemented in rdGeneralizedForceAtv, and suSpringGeneralizedForce.

void rdGeneralizedForce::getControls (  double  rX[]  )  const [virtual]

Get the current values of the controls. Parameters: aX  Array of control values. Reimplemented from rdActuator. Reimplemented in rdGeneralizedForceAtv, and suSpringGeneralizedForce.

int rdGeneralizedForce::getQID (   )  const

Get the ID of the generalized coordinate to which the generalized force is applied. Parameters: aID  Body ID.

rdGeneralizedForce & rdGeneralizedForce::operator= (  const rdGeneralizedForce &  aGenForce  )

Assignment operator. Returns: aQID ID (or number, or index) of the generalized coordinate.

void rdGeneralizedForce::setControls (  const double  aX[]  )  [virtual]

Set the current values of the controls. Parameters: aX  Array of control values. Reimplemented from rdActuator. Reimplemented in rdGeneralizedForceAtv, and suSpringGeneralizedForce.

void rdGeneralizedForce::setQID (  int  aQID  )

Set the generalized coordinate to which the generalized force is applied. Parameters: aQID  ID (or number, or index) of the generalized coordinate.

void rdGeneralizedForce::updateData (   )

Update the member data of this object based on its XML node. Member objects (children) are not updated. Reimplemented from rdActuator. Reimplemented in rdGeneralizedForceAtv, and suSpringGeneralizedForce.

void rdGeneralizedForce::updateNode (  bool  aDeep = true  )  [virtual]

Update the XML node representing this object. Parameters: aDeep  If true, update the XML node of this object AND the XML nodes of all class members that are rdObjects (child nodes); if false, update only the XML node of this object without updating the XML nodes of its children. Reimplemented from rdActuator. Reimplemented in rdGeneralizedForceAtv, and suSpringGeneralizedForce.

void rdGeneralizedForce::updateObject (  bool  aDeep = true  )  [virtual]

Update this object based on its XML node. Parameters: aDeep  If true, update this object and all its child objects (that is, member variables that are rdObject's); if false, update only the member variables that are not rdObject's. Reimplemented from rdActuator. Reimplemented in rdGeneralizedForceAtv, and suSpringGeneralizedForce.

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The documentation for this class was generated from the following files:

• rdGeneralizedForce.h
• rdGeneralizedForce.cpp

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