A custom SliderConstraint Class. More...

Inheritance diagram for cens::CENSSliderConstraint:

Collaboration diagram for cens::CENSSliderConstraint:

Public Member Functions
	CENSSliderConstraint (btRigidBody &rbA, btRigidBody &rbB, const btTransform &rbAFrame, const btTransform &rbBFrame, bool useReferenceFrameA=false)

void	setMotorTarget (float targetPos, float dt=.05)

void	setPDMotorTarget (float targetPos, float kp=3, float ki=0, float kd=.5, float dt=.05)

Static Private Attributes
static std::map < CENSSliderConstraint *, float >	positions

Detailed Description

A custom SliderConstraint Class.

Through this class a custom control of the motor of the joint can be implemented. The methods CENSSliderConstraint::setMotorTarget and CENSSliderConstraint::setPDMotorTarget can be used to change the joint position with a P or PD control.

Definition at line 435 of file cens_physics.h.

Constructor & Destructor Documentation

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

inline

Definition at line 439 of file cens_physics.h.

void cens::CENSSliderConstraint::setMotorTarget	(	float	targetPos,
		float	dt = `.05`
	)

Definition at line 386 of file cens_physics.cpp.

References positions.

void cens::CENSSliderConstraint::setPDMotorTarget	(	float	targetPos,
		float	kp = `3`,
		float	ki = `0`,
		float	kd = `.5`,
		float	dt = `.05`
	)

Change motor velocity based on the PD force

Parameters

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

Definition at line 415 of file cens_physics.cpp.

References positions.

std::map< CENSSliderConstraint *, float > cens::CENSSliderConstraint::positions

staticprivate

Definition at line 461 of file cens_physics.h.

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