Winch class for handling in and out hauling of wires. More...

#include <WireWinchController.h>

Inheritance diagram for agxWire::WireWinchController:

Public Member Functions
	WireWinchController (agx::RigidBody *body, const agx::Vec3 &positionInBodyFrame, const agx::Vec3 &normalInBodyFrame, agx::Real pulledInLength=agx::Real(0))
	Construct this winch given position, normal and body this winch is attached to.

agx::Constraint1DOF *	get1DOFConstraint ()
	Get pointer to Constraint1DOF.

const agx::Constraint1DOF *	get1DOFConstraint () const

bool	getAutoFeed () const

const agx::RangeReal &	getBrakeForceRange () const

virtual agx::Real	getCurrentBrakeForce () const

virtual agx::Real	getCurrentForce () const

virtual agx::Real	getCurrentSpeed () const

agxWire::BodyFixedNode *	getFixedNode () const

const agx::RangeReal &	getForceRange () const

agx::Vec3	getLumpNodeReferencePosition () const

const agx::Vec3 &	getNormal () const

virtual agx::Real	getPulledInWireLength () const

agx::RigidBody *	getRigidBody () const

agx::Real	getSpeed () const

agxWire::StopNode *	getStopNode () const

bool	getStopNodeInserted () const

agx::Real	getStopNodeReferenceDistance () const

virtual bool	getWithinEndRange () const

agx::Vec3	getWorldNormal () const

void	setAutoFeed (bool autoFeed)
	Set auto feed to this winch.

void	setBrakeForceRange (agx::RangeReal brakeForceRange)
	Set the desired brake force range where range::lower is the force in which this winch brake can hold the wire from hauling out and ranger::upper the brake force hold the wire from hauling in.

void	setBrakeForceRange (agx::Real brakeForce)
	Same as setBrakeForceRange( agx::RangeReal brakeForceRange ) but this method will set range as [-brakeForce, brakeForce].

void	setCompliance (agx::Prismatic *prismatic) const
	Sets the default compliance for the prismatic constraint.

void	setForceRange (agx::RangeReal forceRange)
	Set the desired winch force where range::lower is the force in which this winch may haul in wire, range::upper haul out.

void	setForceRange (agx::Real force)
	Same as setForceRange( agx::RangeReal forceRange ) but this method will set range as [-force, force].

void	setParameterController (agxWire::WireParameterController *parameters)
	Associate a parameter controller to this winch.

void	setPulledInWireLength (agx::Real pulledInLength)
	Set the pulled in length for this winch.

void	setSpeed (agx::Real speed)
	Set winch motor speed.

void	setStabilityController (agxWire::WireStabilityController *stabilityController)
	Associate a stability controller to this winch.

Public Member Functions inherited from agxStream::Serializable
virtual	~Serializable ()
	Destructor for normal C++ use but hidden from SWIG bindings.

virtual const char *	getClassName () const

bool	getEnableSerialization () const

bool	getEnableUuidGeneration ()

agx::UInt32	getIndex () const
	This index is given at creation of this object.

virtual StorageAgent *	getStorageAgent () const =0

agx::Uuid	getUuid () const

bool	isFinished () const

void	setEnableSerialization (bool flag)
	Set to false to disable serialization of this object.

void	setFinished ()
	Tells this class that it is restored correctly and should not be deleted during destruction of an Archive.

void	setUuid (const agx::Uuid &uuid)
	Explicitly set a Uuid on a serializable object.

Protected Member Functions
	WireWinchController ()
	Default constructor for serialization.

virtual	~WireWinchController ()

virtual void	addNotification (agxSDK::SimulationProxy *)
	Called from Wire::addNotification.

virtual bool	attach (WireDistanceCompositeConstraint constraint, WireParameterController parameters, bool begin)
	Create new nodes for new wire.

agx::Real	configureInitialState ()
	This method will set the position of the lumped node given the stop node and pulled in length.

agx::Prismatic *	createPrismatic (Node fixedNode, Node lumpedNode, const agx::Vec3 &worldNormal) const
	Creates a prismatic constraint given the fixed-, lumped node and a normal.

BodyFixedNode *	findParametersHoldingNode (bool begin)
	Search the wire, given begin true of false, for the parameters holding node.

virtual void	forcePulledInLength (agx::Real newLength)

BodyFixedNode *	getNextLumpedNode (BodyFixedNode *from, bool begin)
	Finds the next (or previous) lumped node given a lumped node and the direction of the search.

virtual agx::Real	getReferenceCurrentLength (bool begin) const override

virtual Node *	getReferenceNode () override

virtual void	incrementPulledInLength (agx::Real dl)

virtual void	initialize (bool begin, WireParameterController *parameters) override
	Initializes this winch (inserts the stop node and move the lump for example).

bool	insertStopNode (bool begin)
	Inserts the stop wire node in the wire.

void	massUpdate (agx::Real restLengthChange, bool begin)
	Updates mass for lumped nodes where the rest length is changed by restLengthChange.

virtual bool	owns (const Node *node) const override
	For the wire to know if `node` belongs to this attachment.

virtual void	postUpdate (agx::Bool, agxSDK::SimulationProxy *)
	Post update call from the wire.

virtual void	preCollideUpdate (agx::Bool, agxSDK::SimulationProxy *)
	Pre-collide update call from the wire.

virtual void	preUpdate (agx::Bool, agxSDK::SimulationProxy *)
	Pre update call from the wire.

agx::Real	resetLumpPosition (agx::Real angle)
	Resets the lump position to reference.

virtual void	unitialize ()
	Forgets about all wire parameters and clears the constraint.

virtual void	update (Node controlledNode, Node lumpedNode, bool begin) override
	Called when it's time to update the constraint and reset the position of the lump.

void	updateConstraintSettings (agx::Prismatic *prismatic, agx::Real desiredSpeed, const agx::RangeReal &forceRange, const agx::RangeReal &brakeRange, bool rangeEnable, bool forcedBrake=false) const
	Updates motor, lock and range parameters.

Protected Member Functions inherited from agxStream::Serializable
	Serializable ()
	Default constructor.

	Serializable (const Serializable &other)
	Copy constructor.

void	generateUuid ()

Protected Attributes
bool	m_autoFeed

agx::RangeReal	m_brakeRange

BodyFixedNodeRef	m_fixedNode

bool	m_forcedBrake

agx::RangeReal	m_forceRange

agx::observer_ptr< BodyFixedNode >	m_lumpedNode

agx::Vec3	m_normal

WireParameterController *	m_parameters

agx::observer_ptr< BodyFixedNode >	m_parametersHoldingNode
	To access and change rest/current length.

agx::Real	m_pulledInLength

agx::Real	m_speed

agx::observer_ptr< WireStabilityController >	m_stabilityController
	If by the initialization controller, this winch can merge segments and change mass of the lumps via this controller.

StopNodeRef	m_stopNode

bool	m_withinEndRange

Additional Inherited Members
Static Public Member Functions inherited from agxStream::Serializable
static void	setEnableUuidGeneration (bool flag)
	Specify if there should be UUID:s generated for each new Serializable object. By default it is enabled.

Detailed Description

Winch class for handling in and out hauling of wires.

Note: Spooling out all available wire is not recommended. Either the winch should be stopped before this happens, or the wire should be detached from the winch. Force reported by the brake/winch will not be correct if no wire is left in the winch.

Definition at line 41 of file WireWinchController.h.

Constructor & Destructor Documentation

◆ WireWinchController() [1/2]

agxWire::WireWinchController::WireWinchController	(	agx::RigidBody *	body,
		const agx::Vec3 &	positionInBodyFrame,
		const agx::Vec3 &	normalInBodyFrame,
		agx::Real	pulledInLength = `agx::Real(0)`
	)

Construct this winch given position, normal and body this winch is attached to.

Both position and normal are in body frame. The normal defines the direction out from the winch, i.e., the positive direction in which the wire will be hauled out.

Parameters

body	- rigid body this winch is attached to
positionInBodyFrame	- position of this winch on `body`
normalInBodyFrame	- direction of this winch
pulledInLength	- pulled in length in this winch

◆ WireWinchController() [2/2]

agxWire::WireWinchController::WireWinchController ( )

protected

Default constructor for serialization.

◆ ~WireWinchController()

virtual agxWire::WireWinchController::~WireWinchController ( )

protectedvirtual

Member Function Documentation

◆ addNotification()

virtual void agxWire::WireWinchController::addNotification ( agxSDK::SimulationProxy * )

inlineprotectedvirtual

Called from Wire::addNotification.

Reimplemented in agxWire::Winch.

Definition at line 251 of file WireWinchController.h.

◆ attach()

virtual bool agxWire::WireWinchController::attach	(	WireDistanceCompositeConstraint *	constraint,
		WireParameterController *	parameters,
		bool	begin
	)

protectedvirtual

Create new nodes for new wire.

◆ configureInitialState()

agx::Real agxWire::WireWinchController::configureInitialState ( )

protected

This method will set the position of the lumped node given the stop node and pulled in length.

Returns: the distance the lumped node moved during this initialization (distance < reference distance means that the range should be enabled)

◆ createPrismatic()

agx::Prismatic * agxWire::WireWinchController::createPrismatic	(	Node *	fixedNode,
		Node *	lumpedNode,
		const agx::Vec3 &	worldNormal
	)		const

protected

Creates a prismatic constraint given the fixed-, lumped node and a normal.

◆ findParametersHoldingNode()

BodyFixedNode * agxWire::WireWinchController::findParametersHoldingNode ( bool begin )

protected

Search the wire, given begin true of false, for the parameters holding node.

If this winch is located at the beginning of the wire, the parameters holding node will be the first lump after m_lumpedNode. If at end, the parameters holding node is equal to the lumped node.

Parameters

begin - if this winch is located at the beginning or at the end of the wire

Returns: the node which holds the rest/current length of its segment

◆ forcePulledInLength()

virtual void agxWire::WireWinchController::forcePulledInLength ( agx::Real newLength )

protectedvirtual

◆ get1DOFConstraint() [1/2]

agx::Constraint1DOF * agxWire::WireWinchController::get1DOFConstraint ( )

Get pointer to Constraint1DOF.

◆ get1DOFConstraint() [2/2]

const agx::Constraint1DOF * agxWire::WireWinchController::get1DOFConstraint ( ) const

◆ getAutoFeed()

bool agxWire::WireWinchController::getAutoFeed ( ) const

inline

Returns: true if auto feed mode - otherwise false

See also: setAutoFeed

Definition at line 403 of file WireWinchController.h.

References m_autoFeed.

◆ getBrakeForceRange()

const agx::RangeReal & agxWire::WireWinchController::getBrakeForceRange ( ) const

inline

Returns: the brake force range

Definition at line 418 of file WireWinchController.h.

References m_brakeRange.

◆ getCurrentBrakeForce()

virtual agx::Real agxWire::WireWinchController::getCurrentBrakeForce ( ) const

virtual

Note: that if all the wire is spooled out, the force reported will not be correct. Avoid this situation.

Returns: the current brake force the winch brake is applying

Reimplemented in agxWire::WireSimpleDrumController.

◆ getCurrentForce()

virtual agx::Real agxWire::WireWinchController::getCurrentForce ( ) const

virtual

Returns: the current force the winch motor is applying

Reimplemented in agxWire::WireSimpleDrumController.

◆ getCurrentSpeed()

virtual agx::Real agxWire::WireWinchController::getCurrentSpeed ( ) const

virtual

Returns: the current speed of the winch motor

Reimplemented in agxWire::WireSimpleDrumController.

◆ getFixedNode()

agxWire::BodyFixedNode * agxWire::WireWinchController::getFixedNode ( ) const

Returns: the fixed node (i.e., first or last node depending on which side this winch is on)

◆ getForceRange()

const agx::RangeReal & agxWire::WireWinchController::getForceRange ( ) const

inline

Returns: the winch force range

Definition at line 413 of file WireWinchController.h.

References m_forceRange.

◆ getLumpNodeReferencePosition()

agx::Vec3 agxWire::WireWinchController::getLumpNodeReferencePosition ( ) const

Returns: the reference position of the lump node given normal and fixed node

◆ getNextLumpedNode()

BodyFixedNode * agxWire::WireWinchController::getNextLumpedNode	(	BodyFixedNode *	from,
		bool	begin
	)

protected

Finds the next (or previous) lumped node given a lumped node and the direction of the search.

Parameters

from	- the search will start from this body fixed wire node
begin	- direction of the search, begin == true the search will be forward, false backward (in the list)

Returns: the next lumped node - zero of no lump was found

◆ getNormal()

const agx::Vec3 & agxWire::WireWinchController::getNormal ( ) const

inline

Returns: the normal in rigid body frame

Definition at line 398 of file WireWinchController.h.

References m_normal.

◆ getPulledInWireLength()

virtual agx::Real agxWire::WireWinchController::getPulledInWireLength ( ) const

virtual

Returns: the pulled in length of the wire attached to the winch controller.

◆ getReferenceCurrentLength()

virtual agx::Real agxWire::WireWinchController::getReferenceCurrentLength ( bool begin ) const

overrideprotectedvirtual

Returns: current length between lumped node and stop node

◆ getReferenceNode()

virtual Node * agxWire::WireWinchController::getReferenceNode ( )

inlineoverrideprotectedvirtual

Returns: true if our stop node is on the wire

Definition at line 330 of file WireWinchController.h.

◆ getRigidBody()

agx::RigidBody * agxWire::WireWinchController::getRigidBody ( ) const

Returns: the rigid body

◆ getSpeed()

agx::Real agxWire::WireWinchController::getSpeed ( ) const

inline

Returns: the desired speed of the winch motor

Definition at line 408 of file WireWinchController.h.

References m_speed.

◆ getStopNode()

agxWire::StopNode * agxWire::WireWinchController::getStopNode ( ) const

Returns: the stop node

◆ getStopNodeInserted()

bool agxWire::WireWinchController::getStopNodeInserted ( ) const

Returns: true if the stop node has been inserted into the wire - otherwise false

◆ getStopNodeReferenceDistance()

agx::Real agxWire::WireWinchController::getStopNodeReferenceDistance ( ) const

Returns: distance between lump reposition position and the stop node.

◆ getWithinEndRange()

virtual bool agxWire::WireWinchController::getWithinEndRange ( ) const

virtual

◆ getWorldNormal()

agx::Vec3 agxWire::WireWinchController::getWorldNormal ( ) const

Returns: the normal in world frame

◆ incrementPulledInLength()

virtual void agxWire::WireWinchController::incrementPulledInLength ( agx::Real dl )

protectedvirtual

◆ initialize()

virtual void agxWire::WireWinchController::initialize	(	bool	begin,
		WireParameterController *	parameters
	)

overrideprotectedvirtual

Initializes this winch (inserts the stop node and move the lump for example).

Parameters

begin	- true if this attachment is at the beginning of the wire
parameters	- pointer to the parameter object

Reimplemented in agxWire::WireSimpleDrumController.

◆ insertStopNode()

bool agxWire::WireWinchController::insertStopNode ( bool begin )

protected

Inserts the stop wire node in the wire.

Returns: true if the operation was successful (or if the node is already inserted) - otherwise false

◆ massUpdate()

void agxWire::WireWinchController::massUpdate	(	agx::Real	restLengthChange,
		bool	begin
	)

protected

Updates mass for lumped nodes where the rest length is changed by restLengthChange.

◆ owns()

virtual bool agxWire::WireWinchController::owns ( const Node * node ) const

inlineoverrideprotectedvirtual

For the wire to know if node belongs to this attachment.

Parameters

node - node

Returns: true if node is part of this attachment

Definition at line 322 of file WireWinchController.h.

◆ postUpdate()

virtual void agxWire::WireWinchController::postUpdate	(	agx::Bool	,
		agxSDK::SimulationProxy *
	)

inlineprotectedvirtual

Post update call from the wire.

Definition at line 315 of file WireWinchController.h.

◆ preCollideUpdate()

virtual void agxWire::WireWinchController::preCollideUpdate	(	agx::Bool	,
		agxSDK::SimulationProxy *
	)

inlineprotectedvirtual

Pre-collide update call from the wire.

Definition at line 300 of file WireWinchController.h.

◆ preUpdate()

virtual void agxWire::WireWinchController::preUpdate	(	agx::Bool	,
		agxSDK::SimulationProxy *
	)

inlineprotectedvirtual

Pre update call from the wire.

Reimplemented in agxWire::Winch.

Definition at line 305 of file WireWinchController.h.

◆ resetLumpPosition()

agx::Real agxWire::WireWinchController::resetLumpPosition ( agx::Real angle )

protected

Resets the lump position to reference.

Parameters

angle - the current angle of the constraint

Returns: change in angle (i.e., the amount the rest and current (?) length should change

◆ setAutoFeed()

void agxWire::WireWinchController::setAutoFeed ( bool autoFeed )

Set auto feed to this winch.

This mode can be used to facilitate routing. E.g., put all wire in this winch (start of route), set mode to auto feed, and route. The wire will automatically decrease in this winch to fulfill the rout without initial tension. Default: false

Parameters

autoFeed - true for auto feed mode

◆ setBrakeForceRange() [1/2]

void agxWire::WireWinchController::setBrakeForceRange ( agx::RangeReal brakeForceRange )

Set the desired brake force range where range::lower is the force in which this winch brake can hold the wire from hauling out and ranger::upper the brake force hold the wire from hauling in.

It's important that the lower value is smaller than zero and the upper larger than zero. Default: (-0, 0)

Parameters

brakeForceRange - brake force range

See also: setBrakeForce

◆ setBrakeForceRange() [2/2]

void agxWire::WireWinchController::setBrakeForceRange ( agx::Real brakeForce )

Same as setBrakeForceRange( agx::RangeReal brakeForceRange ) but this method will set range as [-brakeForce, brakeForce].

Parameters

brakeForce - brake force (Newton) to define the total brake force range

◆ setCompliance()

void agxWire::WireWinchController::setCompliance ( agx::Prismatic * prismatic ) const

Sets the default compliance for the prismatic constraint.

Parameters

prismatic - a prismatic constraint

◆ setForceRange() [1/2]

void agxWire::WireWinchController::setForceRange ( agx::RangeReal forceRange )

Set the desired winch force where range::lower is the force in which this winch may haul in wire, range::upper haul out.

It's important that the lower value is smaller than zero and the upper larger than zero. Default: (-Infinity, Infinity)

Parameters

forceRange - force (Newton) range [haul_in, haul_out] where haul_in <= 0 and haul_out >= 0

◆ setForceRange() [2/2]

void agxWire::WireWinchController::setForceRange ( agx::Real force )

Same as setForceRange( agx::RangeReal forceRange ) but this method will set range as [-force, force].

Parameters

force - force (Newton) to define the total force range

◆ setParameterController()

void agxWire::WireWinchController::setParameterController ( agxWire::WireParameterController * parameters )

Associate a parameter controller to this winch.

◆ setPulledInWireLength()

void agxWire::WireWinchController::setPulledInWireLength ( agx::Real pulledInLength )

Set the pulled in length for this winch.

Note: Explicitly assigning this value will affect the total length of the wire this winch is attached to.

Parameters

pulledInLength - pulled in length

◆ setSpeed()

void agxWire::WireWinchController::setSpeed ( agx::Real speed )

Set winch motor speed.

Parameters

speed - speed of the winch motor (Default: 0)

◆ setStabilityController()

void agxWire::WireWinchController::setStabilityController ( agxWire::WireStabilityController * stabilityController )

Associate a stability controller to this winch.

This winch will use the stability controller to calculate and set masses to the neighboring lumped nodes when hauling in and out wire. It makes it also possible for this winch to merge two lumps if the haul in speed is large.

Parameters

stabilityController - new stability controller

◆ unitialize()

virtual void agxWire::WireWinchController::unitialize ( )

protectedvirtual

Forgets about all wire parameters and clears the constraint.

◆ update()

virtual void agxWire::WireWinchController::update	(	Node *	controlledNode,
		Node *	lumpedNode,
		bool	begin
	)

overrideprotectedvirtual

Called when it's time to update the constraint and reset the position of the lump.

Reimplemented in agxWire::WireSimpleDrumController.

◆ updateConstraintSettings()

void agxWire::WireWinchController::updateConstraintSettings	(	agx::Prismatic *	prismatic,
		agx::Real	desiredSpeed,
		const agx::RangeReal &	forceRange,
		const agx::RangeReal &	brakeRange,
		bool	rangeEnable,
		bool	forcedBrake = `false`
	)		const

protected

Updates motor, lock and range parameters.

Parameters

prismatic	- the prismatic constraint
desiredSpeed	- desired speed of the prismatic motor
forceRange	- force range of the motor
brakeRange	- force range of the lock
rangeEnable	- if pulled in length < reference distance the range should be enabled
forcedBrake	- true for "emergency stop" of this winch, brake force will be infinite

Member Data Documentation

◆ m_autoFeed

bool agxWire::WireWinchController::m_autoFeed

protected

Definition at line 373 of file WireWinchController.h.

Referenced by getAutoFeed().

◆ m_brakeRange

agx::RangeReal agxWire::WireWinchController::m_brakeRange

protected

Definition at line 376 of file WireWinchController.h.

Referenced by getBrakeForceRange().

◆ m_fixedNode

BodyFixedNodeRef agxWire::WireWinchController::m_fixedNode

protected

Definition at line 381 of file WireWinchController.h.

◆ m_forcedBrake

bool agxWire::WireWinchController::m_forcedBrake

protected

Definition at line 379 of file WireWinchController.h.

◆ m_forceRange

agx::RangeReal agxWire::WireWinchController::m_forceRange

protected

Definition at line 375 of file WireWinchController.h.

Referenced by getForceRange().

◆ m_lumpedNode

agx::observer_ptr< BodyFixedNode > agxWire::WireWinchController::m_lumpedNode

protected

Definition at line 384 of file WireWinchController.h.

◆ m_normal

agx::Vec3 agxWire::WireWinchController::m_normal

protected

Definition at line 383 of file WireWinchController.h.

Referenced by getNormal().

◆ m_parameters

WireParameterController* agxWire::WireWinchController::m_parameters

protected

Definition at line 389 of file WireWinchController.h.

◆ m_parametersHoldingNode

agx::observer_ptr< BodyFixedNode > agxWire::WireWinchController::m_parametersHoldingNode

protected

To access and change rest/current length.

If this winch is located at begin this will be the lumped node after m_lumpedNode, if at end m_lumpedNode == m_parametersHoldingNode.

Definition at line 385 of file WireWinchController.h.

◆ m_pulledInLength

agx::Real agxWire::WireWinchController::m_pulledInLength

protected

Definition at line 377 of file WireWinchController.h.

◆ m_speed

agx::Real agxWire::WireWinchController::m_speed

protected

Definition at line 374 of file WireWinchController.h.

Referenced by getSpeed().

◆ m_stabilityController

agx::observer_ptr< WireStabilityController > agxWire::WireWinchController::m_stabilityController

protected

If by the initialization controller, this winch can merge segments and change mass of the lumps via this controller.

Definition at line 387 of file WireWinchController.h.

◆ m_stopNode

StopNodeRef agxWire::WireWinchController::m_stopNode

protected

Definition at line 382 of file WireWinchController.h.

◆ m_withinEndRange

bool agxWire::WireWinchController::m_withinEndRange

protected

Definition at line 378 of file WireWinchController.h.

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

WireWinchController.h

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ WireWinchController() [1/2]

◆ WireWinchController() [2/2]

◆ ~WireWinchController()

Member Function Documentation

◆ addNotification()

◆ attach()

◆ configureInitialState()

◆ createPrismatic()

◆ findParametersHoldingNode()

◆ forcePulledInLength()

◆ get1DOFConstraint() [1/2]

◆ get1DOFConstraint() [2/2]

◆ getAutoFeed()

◆ getBrakeForceRange()

◆ getCurrentBrakeForce()

◆ getCurrentForce()

◆ getCurrentSpeed()

◆ getFixedNode()

◆ getForceRange()

◆ getLumpNodeReferencePosition()

◆ getNextLumpedNode()

◆ getNormal()

◆ getPulledInWireLength()

◆ getReferenceCurrentLength()

◆ getReferenceNode()

◆ getRigidBody()

◆ getSpeed()

◆ getStopNode()

◆ getStopNodeInserted()

◆ getStopNodeReferenceDistance()

◆ getWithinEndRange()

◆ getWorldNormal()

◆ incrementPulledInLength()

◆ initialize()

◆ insertStopNode()

◆ massUpdate()

◆ owns()

◆ postUpdate()

◆ preCollideUpdate()

◆ preUpdate()

◆ resetLumpPosition()

◆ setAutoFeed()

◆ setBrakeForceRange() [1/2]

◆ setBrakeForceRange() [2/2]

◆ setCompliance()

◆ setForceRange() [1/2]

◆ setForceRange() [2/2]

◆ setParameterController()

◆ setPulledInWireLength()

◆ setSpeed()

◆ setStabilityController()

◆ unitialize()

◆ update()

◆ updateConstraintSettings()

Member Data Documentation

◆ m_autoFeed

◆ m_brakeRange

◆ m_fixedNode

◆ m_forcedBrake

◆ m_forceRange

◆ m_lumpedNode

◆ m_normal

◆ m_parameters

◆ m_parametersHoldingNode

◆ m_pulledInLength

◆ m_speed

◆ m_stabilityController

◆ m_stopNode

◆ m_withinEndRange