Object Class Reference

#include <Object.hh>

List of all members.

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Detailed Description

CDL object.

This class captures a CDL object, which also corresponds to a single Arachi DE rigid body object. This class is defined to facilitate internal CDL bookkeeping associated with individual objects as well as present a much simpler interface than the classes provided by DE

Public Member Functions
	Object (const char *name, Surface *s, DeObject *obj)
void	setName (const char *name)
const char *	getName (void)
DeObject *	getDeObject (void)
Surface *	getSurface (void)
const DeFrame &	globalFrame (void)
const DeVector6 &	globalVelocity (void)
const DeVector6 &	localVelocity (void)
const DeVector6 &	globalAccel (void)
const DeVector6 &	localAccel (void)
void	globalForce (DeVector6 *force)
void	localForce (DeVector6 *force)
DeFloat	mass (void)
Public Attributes
FreeBodyJoint *	freebody
Contact *	contact

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Constructor & Destructor Documentation

Object::Object (  const char *  name, Surface *  s, DeObject *  obj )  [inline]

This constructor creates a CDL object with a given name and Surface type, corresponding to the specified DE object

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Member Function Documentation

DeObject* Object::getDeObject (  void   )  [inline]

This method returns a pointer to the DE object associated with this CDL object

const char* Object::getName (  void   )  [inline]

This method returns a pointer to the name of the object

Surface* Object::getSurface (  void   )  [inline]

This method returns a pointer to the surface type associated with this object. Surface types are primarily used to interface with PCM.

const DeVector6& Object::globalAccel (  void   )  [inline]

This method return the acceleration of the object relative to the inertial ("global") world frame at the "current" time.

void Object::globalForce (  DeVector6 *  force  )  [inline]

This method return the total force (anf torque) acting on the object relative to the inertial ("global") world frame at the "current" time.

const DeFrame& Object::globalFrame (  void   )  [inline]

This method return the frame of the object relative to the inertial ("global") world frame at the "current" time.

const DeVector6& Object::globalVelocity (  void   )  [inline]

This method return the velocity of the object relative to the inertial ("global") world frame at the "current" time.

DeFloat Object::mass (  void   )  [inline]

This method returns the total mass of the object

void Object::setName (  const char *  name  )  [inline]

This method sets the name of the object. It overrides the name passed to the constructor.

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SimLib Reference Documentation