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suGeneralizedForcePerturbation Class Reference

A derivatives callback used for applying a generalized force during a simulation. More...

#include <suGeneralizedForcePerturbation.h>

Inheritance diagram for suGeneralizedForcePerturbation:

List of all members.

Public Member Functions
	suGeneralizedForcePerturbation (rdModel *aModel)
	Construct a derivative callback instance for perturbing a generalized force during an integration.
	suGeneralizedForcePerturbation (rdModel *aModel, rdGCVSpline *_aSpline)
	Construct a derivative callback instance for perturbing a generalized force during an integration.
virtual	~suGeneralizedForcePerturbation ()
	Destructor.
void	setGenCoord (int aGenCoord)
	Set which generalized coordinate the force perturbation should be made.
int	getGenCoord () const
	Get which generalized coordinate the force perturbation should be made.
void	setScaleFactor (double aScaleFactor)
	Set the scale factor by which the perturbation will be multiplied.
double	getScaleFactor () const
	Get the scale factor by which the perturbation will be multiplied.
void	setPerturbation (double aPerturbation)
	Set the perturbation.
double	getPerturbation () const
	Get the pertubation value.
virtual void	computeActuation (double aT, double *aX, double *aY)
	Callback called right after actuation has been computed by the model.
virtual void	applyActuation (double aT, double *aX, double *aY)
	Callback called right after actuation has been applied by the model.
Protected Attributes
int	_genCoord
	Which generalized coordinate.
double	_perturbation
	Perturbation to be applied.
double	_scaleFactor
	Scaling factor to be applied to perturbation.
rdGCVSpline *	_genForceSpline
	The function defining the generalized 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 a generalized force during a simulation.

Author:

Frank C. Anderson, Saryn R. Goldberg

Version:

1.0

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Constructor & Destructor Documentation

suGeneralizedForcePerturbation::suGeneralizedForcePerturbation (  rdModel *  aModel  )

Construct a derivative callback instance for perturbing a generalized force during an integration. When this default constructor is used, the perturbation for to the generalized force is set to be a unit torque. This can then be scaled if the user wants to apply a constant torque to a generalized coordinate. Parameters: aModel  Model for which actuator forces are to be perturbed.

suGeneralizedForcePerturbation::suGeneralizedForcePerturbation (  rdModel *  aModel, rdGCVSpline *  _aSpline )

Construct a derivative callback instance for perturbing a generalized force during an integration. When this constructor is used, the rdStorage sent in by the user is used to define a function object. This function is used to define the generalized force that is applied during the simulation. Parameters: aModel  Model for which actuator forces are to be perturbed. aFunction  Function that defines the generalized force to be applied.

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Member Function Documentation

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

Callback called right after actuation has been applied by the model. The nominal atuator force is restored. Reimplemented from rdDerivCallback.

void suGeneralizedForcePerturbation::computeActuation (  double  aT, double *  aX, double *  aY )  [virtual]

Callback called right after actuation has been computed by the model. The perturbation generalized force is applied to the generalized coordinate. Parameters: aT  Normalized time. aX  Controls. aY  States. Reimplemented from rdDerivCallback.

int suGeneralizedForcePerturbation::getGenCoord (   )  const

Get which generalized coordinate the force perturbation should be made. Returns: Generalized coordiante to which force is applied..

double suGeneralizedForcePerturbation::getPerturbation (   )  const

Get the pertubation value. Returns: Factor by which perturbation is multiplied

double suGeneralizedForcePerturbation::getScaleFactor (   )  const

Get the scale factor by which the perturbation will be multiplied. Returns: Factor by which perturbation is multiplied

void suGeneralizedForcePerturbation::setGenCoord (  int  aGenCoord  )

Set which generalized coordinate the force perturbation should be made. Parameters: aIndex  Index of the generalized coordinate.

void suGeneralizedForcePerturbation::setPerturbation (  double  aPerturbation  )

Set the perturbation. This is only neccesary if you want to apply a constant perturbation that does not come from a spline. Parameters: aPerturbation  Value of constatn perturbation

void suGeneralizedForcePerturbation::setScaleFactor (  double  aScaleFactor  )

Set the scale factor by which the perturbation will be multiplied. Parameters: aScaleFactor  Factor by which perturbation is multiplied

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

• suGeneralizedForcePerturbation.h
• suGeneralizedForcePerturbation.cpp

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