#include <Winch.h>

Collaboration diagram for CoRiBoDynamics::Structures::TowingBlock:

Public Member Functions
	TowingBlock (ISimObjectCreator *creator, std::string state_prefix, double block_width, double block_diameter, double flange_diameter, double flange_thickness, double pivot_arm_length, double beta)

vec6	ReactionForces ()

void	SetStates (const vec3 &P, const Quat &Q, const vec3 &V, const vec3 &W)

const std::vector< CollisionManager::ExternalObject * >	GetTowingBlockGeometry ()

EIGEN_MAKE_ALIGNED_OPERATOR_NEW vec3	P ()

Quat	Q ()

vec3	V ()

vec3	W ()

Quat	GetStandardizedOrientationNED ()

void	SetLineStructure (SupergridWinchCable *line_structure)
	Returns orientation in a standardized Forward-Starboard-Down oriented coordinate system in a Roll/Pitch/Yaw convention.

double	GetBlockRadius ()

vec3	PassThroughPoint ()

vec3	TopPoint ()

vec3	InletPoint ()

vec3	OutletPoint ()

virtual void	XmlInfo (TiXmlElement &xml_node)

void	Flagging_OdeFcn (const double T, const double const X, double const XDot)

vec3	PivotArm ()

vec3	NeutralPivotArm ()
	vector from pivot to block center

vec3	BlockPosition ()
	vector from pivot to neutral angle block center

Quat	BlockOrientation ()
	block center position

double	PivotAngle ()
	block orientation

void	SetFlaggingResponseCoefficient (double c)

Protected Attributes
SupergridWinchCable *	m_line_structure

double	m_beta

std::vector< CollisionManager::ExternalObject * >	m_block_geometry

CollisionManager::ExternalObject	m_block_capsule

CollisionManager::ExternalObject	m_flange1_disk

CollisionManager::ExternalObject	m_flange2_disk

CollisionManager::ExternalObject	m_flange_cover_capsule

double	m_block_width

double	m_block_diameter

double	m_flange_diameter

double	m_flange_thickness

double	m_pivot_arm_length

double	m_pivot_arm_angle

int	m_pivot_angle_ix

vec3	m_block_base_flange_connection

vec3	m_block_base_cover_connection

vec3	m_P

Quat	m_Q
	pivot position

vec3	m_V
	pivot orientation

vec3	m_W
	pivot velocity

StateData	m_block_states
	pivot angular velocity

StateData	m_flange1_states

StateData	m_flange2_states

StateData	m_flange_cover_states

double	m_flagging_response_coefficient

Detailed Description

Member Function Documentation

vec6 CoRiBoDynamics::Structures::TowingBlock::ReactionForces ( )

Get the sum of all forces acting on the block by the cable.

void CoRiBoDynamics::Structures::TowingBlock::SetStates	(	const vec3 &	P,
		const Quat &	Q,
		const vec3 &	V,
		const vec3 &	W
	)

Update the position and velocities of the winch. Note that the "identity rotation quaternion" refers to a block laying flat on its side.

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