sofa::component::controller::LCPForceFeedback Class Reference

Omni driver force field. More...

#include <LCPForceFeedback.h>

Inheritance diagram for sofa::component::controller::LCPForceFeedback:

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Collaboration diagram for sofa::component::controller::LCPForceFeedback:

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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)
	LCPForceFeedback ()
Data Fields
Data< double >	forceCoef
Protected Attributes
component::odesolver::LCP *	lcp
core::componentmodel::behavior::MechanicalState < Rigid3dTypes > *	mState
	The omni try to follow this mechanical state.
sofa::component::odesolver::MasterContactSolver *	mastersolver

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Detailed Description

Omni driver force field.

Definition at line 45 of file LCPForceFeedback.h.

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Constructor & Destructor Documentation

sofa::component::controller::LCPForceFeedback::LCPForceFeedback

(

)

[inline]

Definition at line 53 of file LCPForceFeedback.h.

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Member Function Documentation

void sofa::component::controller::LCPForceFeedback::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 62 of file LCPForceFeedback.cpp.

References sofa::component::controller::ForceFeedback::f_activate, force, forceCoef, sofa::component::odesolver::MasterContactSolver::getLCP(), sofa::helper::LCP::getTolerance(), sofa::core::objectmodel::Data< T >::getValue(), lcp, mastersolver, mState, and sofa::helper::nlcp_gaussseidelTimed().

void sofa::component::controller::LCPForceFeedback::init

(

void

)

[virtual]

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

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

Definition at line 38 of file LCPForceFeedback.cpp.

References sofa::component::controller::ForceFeedback::context, sofa::core::objectmodel::BaseContext::get(), sofa::core::objectmodel::BaseObject::getContext(), sofa::core::objectmodel::BaseContext::getMechanicalState(), lcp, mastersolver, mState, and sofa::component::controller::OmniDriver::setForceFeedback().

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Field Documentation

Data<double> sofa::component::controller::LCPForceFeedback::forceCoef

Definition at line 50 of file LCPForceFeedback.h.

Referenced by computeForce().

component::odesolver::LCP* sofa::component::controller::LCPForceFeedback::lcp [protected]

Definition at line 54 of file LCPForceFeedback.h.

Referenced by computeForce(), and init().

sofa::component::odesolver::MasterContactSolver* sofa::component::controller::LCPForceFeedback::mastersolver [protected]

Definition at line 59 of file LCPForceFeedback.h.

Referenced by computeForce(), and init().

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

The omni try to follow this mechanical state.

Definition at line 58 of file LCPForceFeedback.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/LCPForceFeedback.h
• modules/sofa/component/controller/LCPForceFeedback.cpp