A hook that adds a Hookean (optionally damped) virtual spring to a joint. More...
#include <Simulator.h>
Inheritance diagram for Klampt::JointSpringHook:
Public Member Functions | |
| JointSpringHook (ODEJoint *joint, Real target, Real kP, Real kD=0) | |
| virtual void | Step (Real dt) override |
| virtual bool | ReadState (File &f) override |
| virtual bool | WriteState (File &f) const override |
| JointSpringHook (ODEJoint *joint, Real target, Real kP, Real kD=0) | |
| virtual void | Step (Real dt) |
| virtual bool | ReadState (File &f) |
| virtual bool | WriteState (File &f) const |
Public Attributes | |
| ODEJoint * | joint |
| Real | target |
| Real | kP |
| Real | kD |
 Public Attributes inherited from Klampt::WorldSimulationHook | |
| bool | autokill |
| Public Attributes inherited from Klampt::SimulatorHook | |
| bool | autokill |
Detailed Description
A hook that adds a Hookean (optionally damped) virtual spring to a joint.
A hook that adds a constant force to a joint.
The documentation for this class was generated from the following files:
