MOMENTUM_NAMESPACE::AngularMotor Class Reference

#include <AngularMotor.h>

Public Member Functions
double	getCurrentTorque () const
double	getDamping () const
double	getElasticity () const
bool	getEnabled () const
bool	getEnableSpringAtZeroSpeed () const
double	getTargetSpeed () const
std::pair< double, double >	getTorqueLimit () const
void	setDamping (double damping)
void	setElasticity (double elasticity)
void	setEnabled (bool enabled)
void	setEnableSpringAtZeroSpeed (bool flag)
void	setTargetSpeed (double speed)
bool	setTorqueLimit (double lower, double upper)
bool	setTorqueLimit (std::pair< double, double > limit)

Detailed Description

An angular motor will try to reach a target rotation speed with the specified max torque.

Member Function Documentation

getCurrentTorque()

double MOMENTUM_NAMESPACE::AngularSecondaryJoint::getCurrentTorque ( ) const

inherited

Get the torque that the secondary constraint is applying to the object at the moment.

Returns

the current torque created by the constraint. Unit is in Newton-Meters.

getDamping()

double MOMENTUM_NAMESPACE::SecondaryJoint::getDamping ( ) const

inherited

Get the damping of the secondary constraint, depending if it is linear or rotational it is in different units, newton-seconds per meter for linear and newton-meter-seconds per radian if it is rotational.

Returns

the current damping of the secondary constraint

getElasticity()

double MOMENTUM_NAMESPACE::SecondaryJoint::getElasticity ( ) const

inherited

Get the elasticity of the secondary constraint, depending if it is linear or rotational it is in different units, newton per meter for linear and newton per radian if it is rotational.

Returns

the current elasticity of the secondary constraint

getEnabled()

bool MOMENTUM_NAMESPACE::SecondaryJoint::getEnabled ( ) const

inherited

Get if the secondary constraint is enabled on its parent joint.

Returns

true if the constraint is enabled for simulation

getEnableSpringAtZeroSpeed()

bool MOMENTUM_NAMESPACE::AngularMotor::getEnableSpringAtZeroSpeed

(

)

const

Returns

true if the motor should act like a spring at target speed = zero

getTargetSpeed()

double MOMENTUM_NAMESPACE::AngularMotor::getTargetSpeed

(

)

const

Get the target speed that the motor tries to reach using the available torque.

In radians per second.

Returns

The target speed of the motor

getTorqueLimit()

std::pair< double, double > MOMENTUM_NAMESPACE::AngularSecondaryJoint::getTorqueLimit ( ) const

inherited

Get the lower and upper torque of the secondary constraint.

The unit is in Newton-meters.

Returns

the current torque range of the constraint

setDamping()

void MOMENTUM_NAMESPACE::SecondaryJoint::setDamping ( double  damping )

inherited

Set the damping of the secondary constraint, depending if it is linear or rotational it is in different units, newton-seconds per meter for linear and newton-meter-seconds per radian if it is rotational.

Parameters

damping

the new damping of the secondary constraint

Only available in simulation mode

setElasticity()

void MOMENTUM_NAMESPACE::SecondaryJoint::setElasticity ( double  elasticity )

inherited

Set the elasticity of the secondary constraint, depending if it is linear or rotational it is in different units, newton-seconds per meter for linear and newton-meter-seconds per radian if it is rotational.

Parameters

elasticity

the new elasticity of the secondary constraint

Only available in simulation mode

setEnabled()

void MOMENTUM_NAMESPACE::SecondaryJoint::setEnabled ( bool  enabled )

inherited

Set if the secondary constraint is enabled on its parent joint.

Parameters

enabled

- the new enable state for the constraint

Only available in simulation mode

setEnableSpringAtZeroSpeed()

void MOMENTUM_NAMESPACE::AngularMotor::setEnableSpringAtZeroSpeed

(

bool

flag

)

When target speed is set to zero for the motor, the motor can be specified to act like a spring, keeping the current position.

Parameters

flag	- If true, the motor will act like a spring if target speed == 0

Only available in simulation mode

setTargetSpeed()

void MOMENTUM_NAMESPACE::AngularMotor::setTargetSpeed

(

double

speed

)

Set the target speed that the motor tries to reach using the available torque.

In radians per second. Infinity is not a valid speed and will be ignored with a warning.

Parameters

speed

- the new target speed of the motor

Only available in simulation mode

setTorqueLimit() [1/2]

bool MOMENTUM_NAMESPACE::AngularSecondaryJoint::setTorqueLimit ( double  lower, double  upper  )

inherited

Set the minimum and maximum torque of the secondary constraint.

The unit is in Newton-meters.

Both cannot be inf, or -inf, that will be ignored and the method will return false

Parameters

lower	- the new available torque in the negative direction
upper	- the new available torque in the positive direction

Only available in simulation mode

Returns

true if values are correct

setTorqueLimit() [2/2]

bool MOMENTUM_NAMESPACE::AngularSecondaryJoint::setTorqueLimit ( std::pair< double, double >  limit )

inherited

Set the lower and upper torque of the secondary constraint.

The unit is in Newton-meters. Both cannot be inf, or -inf, that will be ignored and the method will return false

Parameters

limit

- the new torque range of the constraint

Only available in simulation mode

Returns

true if values are correct