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rdLinearSetPoint Class Reference

Contact modeled with a linear spring in the vertical direction and a moving set point to model friction. More...

#include <rdLinearSetPoint.h>

Inheritance diagram for rdLinearSetPoint:

List of all members.

Public Member Functions
	rdLinearSetPoint (int aBodyA=0, int aBodyB=0)
	Default constructor.
	rdLinearSetPoint (IDOM_Element *aElement)
	Construct an actuator from an XML element.
	rdLinearSetPoint (const rdLinearSetPoint &aContact)
	Copy constructor.
virtual	~rdLinearSetPoint ()
	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.
rdLinearSetPoint &	operator= (const rdLinearSetPoint &aActuator)
	Assignment operator.
void	setNormalStiffness (double aKNP)
	Set normal stiffness.
double	getNormalStiffness () const
	Get normal stiffness.
void	setNormalViscosity (double aKNV)
	Set normal viscosity.
double	getNormalViscosity () const
	Get normal viscosity.
virtual void	computeActuation ()
	Compute all quantities necessary for applying the actuator force to the model.
virtual bool	check () const
	Check that this force actuator has a valid set of states.
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_NORMAL_STIFFNESS [] = "normal_stiffness"
const char	PROP_NORMAL_VISCOSITY [] = "normal_viscosity"
Private Member Functions
void	setNull ()
	Set the data members of this actuator to their null values.

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Detailed Description

Contact modeled with a linear spring in the vertical direction and a moving set point to model friction.

Author:

Frank C. Anderson

Version:

1.0

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Constructor & Destructor Documentation

rdLinearSetPoint::rdLinearSetPoint (  IDOM_Element *  aElement  )

Construct an actuator from an XML element. Parameters: aElement  XML element.

rdLinearSetPoint::rdLinearSetPoint (  const rdLinearSetPoint &  aContact  )

Copy constructor. Parameters: aForce  Force to be copied.

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Member Function Documentation

rdActuator * rdLinearSetPoint::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. Reimplemented from rdForce.

rdActuator * rdLinearSetPoint::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. Reimplemented from rdForce.

void rdLinearSetPoint::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 rdSetPoint.

double rdLinearSetPoint::getNormalStiffness (   )  const

Get normal stiffness. Returns: Normal stiffness.

double rdLinearSetPoint::getNormalViscosity (   )  const

Get normal viscosity. Returns: Normal viscosity.

rdLinearSetPoint & rdLinearSetPoint::operator= (  const rdLinearSetPoint &  aActuator  )

Assignment operator. Returns: Reference to this object.

void rdLinearSetPoint::setNormalStiffness (  double  aKNP  )

Set normal stiffness. Parameters: aKTP  Normal stiffness- must be positive.

void rdLinearSetPoint::setNormalViscosity (  double  aKNV  )

Set normal viscosity. Parameters: aKTV  Normal viscosity- must be positive.

void rdLinearSetPoint::updateData (   )

Update the member data of this object based on its XML node. Member objects (children) are not updated. Reimplemented from rdSetPoint.

void rdLinearSetPoint::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 rdSetPoint.

void rdLinearSetPoint::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 rdSetPoint.

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

• rdLinearSetPoint.h
• rdLinearSetPoint.cpp

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