DUNE: Uniform Navigational Environment  2016.09.0
Simulators::VSIM::Engine Class Reference

Detailed Description

Engine class responsible to model propellers.

Public Member Functions

 Engine (unsigned int id=0, double aforce[3]=0, double pos[3]=0, double orientation[3]=0, float force=0)
 
void updateAct (double value)
 
void applyForce (double speed, double forces[6])
 
bool checkId (unsigned int testid)
 
double getActuation (void)
 
- Public Member Functions inherited from Simulators::VSIM::Force
 Force (void)
 
virtual ~Force (void)
 
void setForce (double, double, double, bool, bool)
 
void setPosition (double, double, double, bool)
 
bool isInertial (void)
 
bool isTorque (void)
 
bool isPosInertial (void)
 

Static Public Member Functions

static int encodeId (int id)
 

Additional Inherited Members

- Protected Attributes inherited from Simulators::VSIM::Force
double m_max_force [3]
 
double m_act_position [3]
 

Constructor & Destructor Documentation

Simulators::VSIM::Engine::Engine ( unsigned int  id = 0,
double  aforce[3] = 0,
double  pos[3] = 0,
double  orientation[3] = 0,
float  force = 0 
)

Engine constructor.

Parameters
[in]idengine id.
[in]aforceforce distribution across three axes.
[in]posposition of the engine relative to the center of the vehicle.
[in]orientationorientation of the engine.
[in]forcemaximum force of the engine.

Member Function Documentation

void Simulators::VSIM::Engine::applyForce ( double  speed,
double  forces[6] 
)
virtual

Apply engine's force.

Parameters
[in]speedspeed reference of the vehicle.
[out]forcescontrol forces to be added to the vehicle.

Reimplemented from Simulators::VSIM::Force.

bool Simulators::VSIM::Engine::checkId ( unsigned int  testid)
virtual

Check engine's id.

Parameters
[in]testidengine id.
Returns
true if id matches, false otherwise.

Reimplemented from Simulators::VSIM::Force.

static int Simulators::VSIM::Engine::encodeId ( int  id)
inlinestatic

Encode id function.

Referenced by Simulators::VSIM::Vehicle::updateEngine().

double Simulators::VSIM::Engine::getActuation ( void  )
virtual

Return vehicle actuation.

Returns
vehicle actuation.

Reimplemented from Simulators::VSIM::Force.

void Simulators::VSIM::Engine::updateAct ( double  value)
virtual

Update engine's actuation.

Parameters
[in]valueactuation value.

Reimplemented from Simulators::VSIM::Force.

Collaboration diagram for Simulators::VSIM::Engine:
Collaboration graph