cens::CENSHingeConstraint Class Reference

A custom HingeConstraint Class. More...

#include <cens_physics.h>

Inheritance diagram for cens::CENSHingeConstraint:

Collaboration diagram for cens::CENSHingeConstraint:

Public Member Functions
	CENSHingeConstraint (btRigidBody &rbA, btRigidBody &rbB, const btVector3 &pivotInA, const btVector3 &pivotInB, btVector3 &axisInA, btVector3 &axisInB, bool useReferenceFrameA=false)
	CENSHingeConstraint (btRigidBody &rbA, const btVector3 &pivotInA, btVector3 &axisInA, bool useReferenceFrameA=false)
	CENSHingeConstraint (btRigidBody &rbA, btRigidBody &rbB, const btTransform &rbAFrame, const btTransform &rbBFrame, bool useReferenceFrameA=false)
	CENSHingeConstraint (btRigidBody &rbA, const btTransform &rbAFrame, bool useReferenceFrameA=false)
void	setPDMotorTarget (float targetAngle, float kp=3, float ki=0, float kd=.5, float dt=.05)

Static Private Attributes
static std::map < CENSHingeConstraint *, float >	angles

Detailed Description

A custom HingeConstraint Class.

Through this class a custom control of the motor of the joint can be implemented. The method CENSHingeConstraint::setPDMotorTarget can be used instead of the standard btHingeConstraint::setMotorTarget, to change the joint angular position with a PD control.

Definition at line 374 of file cens_physics.h.

Constructor & Destructor Documentation

cens::CENSHingeConstraint::CENSHingeConstraint ( btRigidBody &  rbA, btRigidBody &  rbB, const btVector3 &  pivotInA, const btVector3 &  pivotInB, btVector3 &  axisInA, btVector3 &  axisInB, bool  useReferenceFrameA = false  )

inline

Definition at line 378 of file cens_physics.h.

cens::CENSHingeConstraint::CENSHingeConstraint ( btRigidBody &  rbA, const btVector3 &  pivotInA, btVector3 &  axisInA, bool  useReferenceFrameA = false  )

inline

Definition at line 386 of file cens_physics.h.

cens::CENSHingeConstraint::CENSHingeConstraint ( btRigidBody &  rbA, btRigidBody &  rbB, const btTransform &  rbAFrame, const btTransform &  rbBFrame, bool  useReferenceFrameA = false  )

inline

Definition at line 393 of file cens_physics.h.

cens::CENSHingeConstraint::CENSHingeConstraint ( btRigidBody &  rbA, const btTransform &  rbAFrame, bool  useReferenceFrameA = false  )

inline

Definition at line 400 of file cens_physics.h.

Member Function Documentation

void cens::CENSHingeConstraint::setPDMotorTarget	(	float	targetAngle,
		float	kp = 3,
		float	ki = 0,
		float	kd = .5,
		float	dt = .05
	)

Change motor velocity based on the PD torque

Parameters

targetAngle	the desired angular position of the joint
kp	proportional gain
kd	derivative gain
dt	integration timestep

Definition at line 336 of file cens_physics.cpp.

References angles.

Referenced by cens::CENSSerializedRobot::update().

Member Data Documentation

std::map< CENSHingeConstraint *, float > cens::CENSHingeConstraint::angles

staticprivate

Definition at line 419 of file cens_physics.h.

Referenced by setPDMotorTarget().

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

• src/cens_physics.h
• src/cens_physics.cpp