#include <LinearMotor.h>

Public Member Functions
double	getCurrentForce () const

double	getDamping () const

double	getElasticity () const

bool	getEnabled () const

bool	getEnableSpringAtZeroSpeed () const

std::pair< double, double >	getForceLimit () const

double	getTargetSpeed () const

void	setDamping (double damping)

void	setElasticity (double elasticity)

void	setEnabled (bool enabled)

void	setEnableSpringAtZeroSpeed (bool flag)

bool	setForceLimit (double lower, double upper)

bool	setForceLimit (std::pair< double, double > limit)

void	setTargetSpeed (double speed)

Detailed Description

A Linear motor will try to reach a target speed with a specified max force.

Member Function Documentation

◆ getCurrentForce()

double MOMENTUM_NAMESPACE::LinearSecondaryJoint::getCurrentForce ( ) const

inherited

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

Returns: the current force created by the constraint. Unit is in Newton.

◆ 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::LinearMotor::getEnableSpringAtZeroSpeed ( ) const

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

◆ getForceLimit()

std::pair< double, double > MOMENTUM_NAMESPACE::LinearSecondaryJoint::getForceLimit ( ) const

inherited

Get the lower and upper force of the secondary constraint.

The unit is in Newton.

Returns: the current force range of the constraint

◆ getTargetSpeed()

double MOMENTUM_NAMESPACE::LinearMotor::getTargetSpeed ( ) const

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

In meters per second.

Returns: The target speed of the motor

◆ 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::LinearMotor::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.

Only available in simulation mode

Parameters

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

◆ setForceLimit() [1/2]

bool MOMENTUM_NAMESPACE::LinearSecondaryJoint::setForceLimit	(	double	lower,
		double	upper
	)

inherited

Set the lower and upper force of the secondary constraint.

The unit is in Newton.

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

Parameters

lower	- the new available force of the constraint in the negative direction
upper	- the new available force of the constraint in the positive direction

Only available in simulation mode

Returns: true if values are correct.

◆ setForceLimit() [2/2]

bool MOMENTUM_NAMESPACE::LinearSecondaryJoint::setForceLimit ( std::pair< double, double > limit )

inherited

Set the lower and upper force of the secondary constraint.

The unit is in Newton.

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

Parameters

limit - the new force range of the constraint

Only available in simulation mode

Returns: true if values are correct

◆ setTargetSpeed()

void MOMENTUM_NAMESPACE::LinearMotor::setTargetSpeed ( double speed )

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

In meters 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

Public Member Functions

Detailed Description

Member Function Documentation

◆ getCurrentForce()

◆ getDamping()

◆ getElasticity()

◆ getEnabled()

◆ getEnableSpringAtZeroSpeed()

◆ getForceLimit()

◆ getTargetSpeed()

◆ setDamping()

◆ setElasticity()

◆ setEnabled()

◆ setEnableSpringAtZeroSpeed()

◆ setForceLimit() [1/2]

◆ setForceLimit() [2/2]

◆ setTargetSpeed()