sofa::component::controller::EnslavementForceFeedback Class Reference

Omni driver force field. More...

#include <EnslavementForceFeedback.h>

Inheritance diagram for sofa::component::controller::EnslavementForceFeedback:

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Collaboration diagram for sofa::component::controller::EnslavementForceFeedback:

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Public Member Functions
void	init ()
	Initialization method called at graph modification, during bottom-up traversal.
virtual void	computeForce (double x, double y, double z, double u, double v, double w, double q, double &fx, double &fy, double &fz)
Protected Attributes
core::componentmodel::behavior::MechanicalState < Rigid3dTypes > *	mState
	The omni try to follow this mechanical state.
sofa::helper::vector < core::CollisionModel * >	collisionModels

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Detailed Description

Omni driver force field.

Definition at line 46 of file EnslavementForceFeedback.h.

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Member Function Documentation

void sofa::component::controller::EnslavementForceFeedback::computeForce	(	double	x,
		double	y,
		double	z,
		double	u,
		double	v,
		double	w,
		double	q,
		double &	fx,
		double &	fy,
		double &	fz
	)			[virtual]

Implements sofa::component::controller::ForceFeedback.

Definition at line 52 of file EnslavementForceFeedback.cpp.

References collisionModels, sofa::component::controller::ForceFeedback::f_activate, sofa::core::objectmodel::Data< T >::getValue(), and mState.

void sofa::component::controller::EnslavementForceFeedback::init

(

void

)

[virtual]

Initialization method called at graph modification, during bottom-up traversal.

Reimplemented from sofa::component::controller::ForceFeedback.

Definition at line 37 of file EnslavementForceFeedback.cpp.

References collisionModels, sofa::component::controller::ForceFeedback::context, sofa::core::objectmodel::BaseContext::get(), sofa::core::objectmodel::BaseObject::getContext(), sofa::core::objectmodel::BaseContext::getMechanicalState(), sofa::simulation::Node::getTreeObjects(), mState, and sofa::component::controller::OmniDriver::setForceFeedback().

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Field Documentation

sofa::helper::vector<core::CollisionModel*> sofa::component::controller::EnslavementForceFeedback::collisionModels [protected]

Definition at line 56 of file EnslavementForceFeedback.h.

Referenced by computeForce(), and init().

core::componentmodel::behavior::MechanicalState<Rigid3dTypes>* sofa::component::controller::EnslavementForceFeedback::mState [protected]

The omni try to follow this mechanical state.

Definition at line 55 of file EnslavementForceFeedback.h.

Referenced by computeForce(), and init().

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

• modules/sofa/component/controller/EnslavementForceFeedback.h
• modules/sofa/component/controller/EnslavementForceFeedback.cpp