frcsim::SpringForce Class Reference

Applies proportional restorative force based on Hooke's Law. More...

#include <spring_force.hpp>

Inheritance diagram for frcsim::SpringForce:

Public Member Functions
	SpringForce (RigidBody *otherBody, const Vector3 &localConnectionPoint, const Vector3 &otherConnectionPoint, double springConstant, double restLength)
	Constructs a spring force generator.
virtual	~SpringForce ()=default
void	UpdateForce (double duration) override
	Applies spring force to registered objects.
Public Member Functions inherited from frcsim::ForceGenerator
virtual	~ForceGenerator ()=default
virtual void	apply (RigidBody &body, double dt_s) const =0

Detailed Description

Applies proportional restorative force based on Hooke's Law.

Constructor & Destructor Documentation

SpringForce()

frcsim::SpringForce::SpringForce ( RigidBody * otherBody, const Vector3 & localConnectionPoint, const Vector3 & otherConnectionPoint, double springConstant, double restLength )

inline

Constructs a spring force generator.

Parameters

otherBody	The body this spring is attached to at the other end.
localConnectionPoint	Local position of the connection point on the object.
otherConnectionPoint	Local position of the connection point on the other body.
springConstant	The stiffness (k).
restLength	The natural resting length.

~SpringForce()

virtual frcsim::SpringForce::~SpringForce ( )

virtualdefault

Member Function Documentation

UpdateForce()

void frcsim::SpringForce::UpdateForce ( double duration )

inlineoverride

Applies spring force to registered objects.

Parameters

duration

Timestep length.

---

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

• src/main/driver/include/frcsim/forces/spring_force.hpp