DUNE: Uniform Navigational Environment  2017.01.0
Simulators::VSIM::Force Class Reference

Detailed Description

Force properties.

This is the base class for engine and fin subclasses.

Public Member Functions

 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)
 
virtual void applyForce (double speed, double forces[6])
 
virtual bool checkId (unsigned int testid)
 
virtual void updateAct (double value)
 
virtual double getActuation (void)
 

Protected Attributes

double m_max_force [3]
 
double m_act_position [3]
 

Constructor & Destructor Documentation

Simulators::VSIM::Force::Force ( void  )

Constructor.

References m_act_position, and m_max_force.

virtual Simulators::VSIM::Force::~Force ( void  )
inlinevirtual

Destructor.

Member Function Documentation

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

Apply this force to body with id ident.

Parameters
[in]speedspeed reference.
[out]forcesforces to be applied to body.

Reimplemented in Simulators::VSIM::Engine, and Simulators::VSIM::Fin.

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

Check force's id.

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

Reimplemented in Simulators::VSIM::Engine, and Simulators::VSIM::Fin.

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

Retrieve current force actuation value.

Returns
force actuation value.

Reimplemented in Simulators::VSIM::Engine.

bool Simulators::VSIM::Force::isInertial ( void  )

Is force in inertial referencial.

Returns
true if it is, false otherwise.
bool Simulators::VSIM::Force::isPosInertial ( void  )

Is position in inertial referencial.

Returns
true if it is, false otherwise.
bool Simulators::VSIM::Force::isTorque ( void  )

Is a torque.

Returns
true if it is, false otherwise.
void Simulators::VSIM::Force::setForce ( double  x,
double  y,
double  z,
bool  is_inertial,
bool  is_torque 
)

Defines force vector.

Parameters
[in]xforce along x-axis.
[in]yforce along y-axis.
[in]zforce along z-axis.
[in]is_inertialif force is in inertial referencial.
[in]is_torqueif force is a torque force.

References m_max_force.

void Simulators::VSIM::Force::setPosition ( double  x,
double  y,
double  z,
bool  is_inertial 
)

Sets position vector.

Parameters
[in]xposition of the force in the x-axis.
[in]yposition of the force in the y-axis.
[in]zposition of the force in the z-axis.
[in]is_inertialif position is in inertial referencial.

References m_act_position.

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

Update force's actuation.

Parameters
[in]valueforce actuation value.

Reimplemented in Simulators::VSIM::Engine, and Simulators::VSIM::Fin.

Member Data Documentation

double Simulators::VSIM::Force::m_act_position[3]
protected

Force application position.

Referenced by Force(), and setPosition().

double Simulators::VSIM::Force::m_max_force[3]
protected

Max force.

Referenced by Force(), and setForce().

Collaboration diagram for Simulators::VSIM::Force:
Collaboration graph