ideal_actuator Class Reference

Apply force and torques to the parent object. More...

#include <ideal_actuator.h>

Inherits dsim_model.

Public Member Functions
	ideal_actuator (dsim_model_setup *setup)
	Constructor.
void	initialize_data ()
	Initialize outlets and output variables.
void	rhs (double t, double jd)
	Computation done during numerical integration.
void	pre_calculate ()
	Computation done prior to numerical integration.
void	complete_timestep ()
	Computation done after numerical integration.

Protected Attributes
dsim_variable	force_dsim
	Force.
dsim_variable	torque_dsim
	Torque.
dsim_variable	forceApp_dsim
	Applied force.
dsim_variable	torqueApp_dsim
	Applied torque.

Detailed Description

Apply force and torques to the parent object.

This component is used to allow a controller (or other external component) to apply ideal forces and torques to the actuator's parent. The values are reset to zero after each timestep.

The two inputs are named "force" and "torque" and are standard 3x1 matrices. They should be in N and Nm. The torque is in the body frame and the force is in the inertial frame (or other frame used by the parent collecting the "apply_torque" and "apply_force" messages).

---

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

• ideal_actuator.h
• ideal_actuator.cc