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Viewing changes to src/srActuator/WheelUniKarl.cpp

  • Committer: Anne van Rossum
  • Date: 2010-08-10 15:58:55 UTC
  • Revision ID: anne@gamix-20100810155855-kve7x2vwouagdij9
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src/srActuator/WheelUniKarl.cpp
 
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/*
 
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 * Robot3D Physical realistic 3D simulator for robots
 
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 *
 
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 * @license GNU Lesser General Public License
 
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 *
 
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 * @author Lutz Winkler
 
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 * @author Anne C. van Rossum
 
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 */
 
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#include <srActuator/WheelUniKarl.h>
 
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// for CFM and ERP, read the manual of the ODE:
 
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// http://www.ode.org/ode-latest-userguide.html
 
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#define SUSPENSION_ERP                  0.9                                     //0.8
 
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#define SUSPENSION_CFM                  0.3                                     //0.6
 
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#define STOP_ERP                                0.9                                     //0.8
 
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#define STOP_CFM                                0.3                                     //0.6
 
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#define FUDGE                                   0.5
 
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#define BOUNCE                                  0.0
 
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#define PI                                              3.1415
 
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// Torques are in N*(5cm).              1Nm ^= 20N*(5cm)
 
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#define MAX_TORQUE                              1000
 
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namespace srCore {
 
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//! Constructor
 
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/*! @param body1, body2 the bodies the hinge is attached to.
 
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 *      @param anchorX, anchorY, anchorZ the position of the hinge in the world coordinate system.
 
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 *  @param axisX, axisY, axisZ the orientation of the axis of the hinge in the world coordinate system.
 
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 *
 
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 */
 
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WheelUniKarl::WheelUniKarl(dtCore::RefPtr<BodyBase> body1, dtCore::RefPtr<BodyBase> body2,
 
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                                        float anchorX, float anchorY, float anchorZ,
 
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                                        float axis1_X, float axis1_Y, float axis1_Z,
 
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                                        const std::string &name) :
 
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                                                HingeActuator(name, "ukaWheel")
 
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{
 
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        this->init(     body1, body2,
 
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                                anchorX, anchorY, anchorZ,
 
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                                axis1_X, axis1_Y, axis1_Z);
 
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        //set up wheel joint
 
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//      setParam(dParamLoStop, -PI);
 
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//      setParam(dParamHiStop, PI);
 
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        //setParam(dParamSuspensionERP, SUSPENSION_ERP);
 
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        //setParam(dParamSuspensionCFM, SUSPENSION_CFM);
 
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        setODEParameter(dParamStopERP, STOP_ERP);
 
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        setODEParameter(dParamStopCFM, STOP_CFM);
 
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        setODEParameter(dParamFudgeFactor, FUDGE);
 
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        setODEParameter(dParamBounce, BOUNCE);
 
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        setODEParameter(dParamFMax, MAX_TORQUE);
 
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        dJointSetHingeParam (joint, dParamLoStop, -4);
 
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        dJointSetHingeParam (joint, dParamHiStop, 4);
 
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}
 
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WheelUniKarl::~WheelUniKarl()
 
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{
 
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}
 
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}