54 minActualLength(mnAL),
57 moveCablePointAToEdge(moveCPA),
58 moveCablePointBToEdge(moveCPB)
63 throw std::invalid_argument(
"stiffness is negative.");
67 throw std::invalid_argument(
"damping is negative.");
74 throw std::invalid_argument(
"max tension is negative.");
78 throw std::invalid_argument(
"min Actual Length is negative.");
82 throw std::invalid_argument(
"min Rest Length is negative.");
84 else if (abs(rot) > M_PI * 2.0)
86 throw std::invalid_argument(
"Abs of rotation is greater than 2pi. Are you sure you're setting the right parameters?");
95 minActualLength *= sf;
101 void tgSpringCableActuator::constructorAux()
105 throw std::invalid_argument(
"Target velocity is negative.");
109 throw std::invalid_argument(
"Minimum length is negative.");
113 throw std::invalid_argument(
"Starting rest length is negative.");
154 throw std::invalid_argument(
"dt is not positive.");
192 bool tgSpringCableActuator::invariant()
const
virtual void setup(tgWorld &world)
Definitions of class tgSpringCable.
virtual const double getVelocity() const
virtual ~tgSpringCableActuator()
virtual const double getTension() const
virtual void setup(tgWorld &world)
virtual const double getStartLength() const
virtual void step(double dt)
virtual const double getRestLength() const
Config(double s=1000.0, double d=10.0, double p=0.0, bool h=false, double mf=1000.0, double tVel=100.0, double mnAL=0.1, double mnRL=0.1, double rot=0, bool moveCPA=true, bool moveCPB=true)
virtual const tgSpringCableActuator::SpringCableActuatorHistory & getHistory() const
Contains the definition of abstract base class tgSpringCableActuator. Assumes that the string is line...
tgSpringCableActuator(tgSpringCable *springCable, const tgTags &tags, tgSpringCableActuator::Config &config)
tgSpringCable * m_springCable
virtual const double getVelocity() const
Contains the definition of class tgWorld $Id$.
virtual const double getTension() const =0
virtual void step(double dt)
virtual const double getRestLength() const
virtual const double getActualLength() const =0
virtual const double getCurrentLength() const
SpringCableActuatorHistory *const m_pHistory