SimTK::Motion::Custom Class Reference

This class can be used to define new motions. More...

#include <Motion.h>

Inheritance diagram for SimTK::Motion::Custom:

List of all members.

Classes
class	Implementation
	This is the abstract base class for Custom Motion implementations. More...
Public Member Functions
	Custom (MobilizedBody &mobod, Implementation *implementation)
	Create a Custom Motion.
	Custom ()
	Default constructor creates an empty handle that can be assigned to reference any Motion::Custom object.
Protected Member Functions
const Implementation &	getImplementation () const
Implementation &	updImplementation ()

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Detailed Description

This class can be used to define new motions.

To use it, create a class that extends Motion::Custom::Implementation. You can then create an instance of it and pass it to the Motion::Custom constructor:

Motion::Custom myMotion(mobod, new MyMotionImplementation());

Alternatively, you can create a subclass of Motion::Custom which creates the Implementation itself:

class MyMotion : public Motion::Custom {
public:
  MyMotion(MobilizedBody& mobod) 
    : Motion::Custom(mobod, new MyMotionImplementation()) {}
};

This allows a user to simply write

MyMotion(mobod);

and not worry about implementation classes or creating objects on the heap. If you do this, your Motion::Custom handle subclass must not have any data members or virtual methods. If it does, it will not work correctly. Instead, store all data in the Implementation subclass.

See also:

SimTK::Motion::Custom::Implementation, SimTK::Motion

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Constructor & Destructor Documentation

SimTK::Motion::Custom::Custom	(	MobilizedBody &	mobod,
		Implementation *	implementation
	)

Create a Custom Motion.

Parameters:

mobod	the MobilizedBody to which this Motion should be added
implementation	the object which implements the custom Motion. The Motion::Custom takes over ownership of the implementation object, and deletes it when the Motion itself is deleted.

SimTK::Motion::Custom::Custom

(

)

[inline]

Default constructor creates an empty handle that can be assigned to reference any Motion::Custom object.

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Member Function Documentation

const Implementation& SimTK::Motion::Custom::getImplementation

(

)

const [protected]

Implementation& SimTK::Motion::Custom::updImplementation

(

)

[protected]

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

• Motion.h