mvsim::Simulable Class Reference

#include <Simulable.h>

Inheritance diagram for mvsim::Simulable:

Public Member Functions
virtual void	apply_force (double fx, double fy, double local_ptx=0.0, double local_pty=0.0)
virtual void	simul_post_timestep (const TSimulContext &context)
virtual void	simul_pre_timestep (const TSimulContext &context)

Detailed Description

Definition at line 16 of file Simulable.h.

Member Function Documentation

virtual void mvsim::Simulable::apply_force ( double  fx, double  fy, double  local_ptx = 0.0, double  local_pty = 0.0  )

inlinevirtual

Override to register external forces exerted by other WorldElements. Force is (fx,fy) in global coordinates. Application point is (local_ptx,local_pty) in the body local frame

Reimplemented in mvsim::VehicleBase, and mvsim::Block.

Definition at line 32 of file Simulable.h.

virtual void mvsim::Simulable::simul_post_timestep ( const TSimulContext &  context )

inlinevirtual

Override to do any required process right after the integration of dynamic equations for each timestep

Reimplemented in mvsim::VehicleBase, mvsim::Block, mvsim::ElevationMap, and mvsim::LaserScanner.

Definition at line 26 of file Simulable.h.

virtual void mvsim::Simulable::simul_pre_timestep ( const TSimulContext &  context )

inlinevirtual

Process right before the integration of dynamic equations for each timestep: set action forces from motors, update friction models, etc.

Reimplemented in mvsim::VehicleBase, mvsim::Block, mvsim::ElevationMap, mvsim::OccupancyGridMap, and mvsim::LaserScanner.

Definition at line 21 of file Simulable.h.

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

• Simulable.h