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suForceApplier Class Reference

A derivatives callback used for applying external forces during a simulation. More...

#include <suForceApplier.h>

Inheritance diagram for suForceApplier:

List of all members.

Public Member Functions
	suForceApplier (rdModel *aModel)
	Construct a derivative callback instance for applying external forces during an integration.
	suForceApplier (rdModel *aModel, int aBody, double aPoint[3])
	Construct a derivative callback instance for applying external forces during an integration.
	suForceApplier (rdModel *aModel, int aBody, double aPoint[3], double aForce[3])
	Construct a derivative callback instance for applying external forces during an integration.
virtual	~suForceApplier ()
	Destructor.
void	setBody (int aBody)
	Set to which body an external force should be applied.
int	getBody () const
	Get to which body an external force should be applied.
void	setPoint (double aPoint[3])
	Set the point, in local body coordinates, at which the external force should be applied.
void	getPoint (double rPoint[3]) const
	Get the point, in local body coordinates, at which the external force should be applied..
void	setForce (double aForce[3])
	Set the external force to be applied, in the inertial reference frame.
void	getForce (double rPoint[3]) const
	Get the external force to be applied, in the inertial reference frame.
virtual void	applyActuation (double aT, double *aX, double *aY)
	Callback called right after actuation has been applied by the model.
Protected Attributes
int	_body
	Which body segment.
double	_point [3]
	Point of force application.
double	_force [3]
	Force to be applied.
Private Member Functions
void	setNull ()
	Set member variables to approprate NULL values.

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Detailed Description

A derivatives callback used for applying external forces during a simulation.

Author:

Frank C. Anderson, May Q. Liu

Version:

1.0

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Constructor & Destructor Documentation

suForceApplier::suForceApplier (  rdModel *  aModel  )

Construct a derivative callback instance for applying external forces during an integration. Parameters: aModel  Model for which external forces are to be applied.

suForceApplier::suForceApplier (  rdModel *  aModel, int  aBody, double  aPoint[3] )

Construct a derivative callback instance for applying external forces during an integration. Parameters: aModel  Model for which external forces are to be applied.

suForceApplier::suForceApplier (  rdModel *  aModel, int  aBody, double  aPoint[3], double  aForce[3] )

Construct a derivative callback instance for applying external forces during an integration. Parameters: aModel  Model for which external forces are to be applied.

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Member Function Documentation

void suForceApplier::applyActuation (  double  aT, double *  aX, double *  aY )  [virtual]

Callback called right after actuation has been applied by the model. * Parameters: aT  Real time. aX  Controls. aY  States. Reimplemented from rdDerivCallback.

int suForceApplier::getBody (   )  const

Get to which body an external force should be applied. Returns: aIndex Index of the body to which an external force should be applied.

void suForceApplier::getForce (  double  rPoint[3]  )  const

Get the external force to be applied, in the inertial reference frame. Returns: aForce

void suForceApplier::getPoint (  double  rPoint[3]  )  const

Get the point, in local body coordinates, at which the external force should be applied.. Returns: aPoint Point at which an external force should be applied.

void suForceApplier::setBody (  int  aBody  )

Set to which body an external force should be applied. Parameters: aIndex  Index of the body to which an external force should be applied.

void suForceApplier::setForce (  double  aForce[3]  )

Set the external force to be applied, in the inertial reference frame. Parameters: aForce  External force to be applied.

void suForceApplier::setPoint (  double  aPoint[3]  )

Set the point, in local body coordinates, at which the external force should be applied. Parameters: aPoint  Point at which an external force should be applied.

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

• suForceApplier.h
• suForceApplier.cpp

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