dynamics2d_velocity_control.h

Go to the documentation of this file.

 
#ifndef DYNAMICS2D_VELOCITY_CONTROL_H
#define DYNAMICS2D_VELOCITY_CONTROL_H
 
namespace argos {
   class CDynamics2DEngine;
}
 
#include <argos3/plugins/simulator/physics_engines/dynamics2d/chipmunk-physics/include/chipmunk.h>
#include <argos3/core/utility/configuration/argos_configuration.h>
#include <argos3/core/utility/math/vector2.h>
 
namespace argos {
 
   class CDynamics2DVelocityControl {
 
   public:
      
      CDynamics2DVelocityControl(CDynamics2DEngine& c_engine,
                                 Real f_max_force,
                                 Real f_max_torque,
                                 TConfigurationNode* t_node = NULL);
 
      virtual ~CDynamics2DVelocityControl();
 
      void AttachTo(cpBody* pt_body);
 
      void Detach();
 
      void Reset();
 
      CVector2 GetLinearVelocity() const;
 
      void SetLinearVelocity(const CVector2& c_velocity);
 
      Real GetAngularVelocity() const;
 
      void SetAngularVelocity(Real f_velocity);
 
      inline Real GetMaxForce() const {
         return m_fMaxForce;
      }
 
      inline Real GetMaxTorque() const {
         return m_fMaxTorque;
      }
 
      inline cpBody* GetControlBody() {
         return m_ptControlBody;
      }
 
      inline cpBody* GetControlledBody() {
         return m_ptControlledBody;
      }
 
      inline cpConstraint* GetLinearConstraint() {
         return m_ptLinearConstraint;
      }
 
      inline cpConstraint* GetAngularConstraint() {
         return m_ptAngularConstraint;
      }
 
   protected:
 
      CDynamics2DEngine& m_cDyn2DEngine;
 
      cpBody* m_ptControlBody;
 
      cpBody* m_ptControlledBody;
 
      cpConstraint* m_ptLinearConstraint;
 
      cpConstraint* m_ptAngularConstraint;
 
      Real m_fMaxForce;
 
      Real m_fMaxTorque;
   };
 
}
 
#endif