Prescribe position, velocity, or acceleration motion as a sinusoidal function of time, m(t) = a * sin( w*t + p ). More...

#include <Motion.h>

Inheritance diagram for SimTK::Motion::Sinusoid:

Public Member Functions
	Sinusoid (MobilizedBody &mobod, Motion::Level level, Real amplitude, Real rate, Real phase)
	Create a sinusoidal prescribed motion applied at position, velocity, or acceleration level.
	Sinusoid ()
	Default constructor creates an empty handle that can be assigned to reference any Motion::Sinusoid object.

Detailed Description

Prescribe position, velocity, or acceleration motion as a sinusoidal function of time, m(t) = a * sin( w*t + p ).

Constructor & Destructor Documentation

SimTK::Motion::Sinusoid::Sinusoid	(	MobilizedBody &	mobod,
		Motion::Level	level,
		Real	amplitude,
		Real	rate,
		Real	phase
	)

Create a sinusoidal prescribed motion applied at position, velocity, or acceleration level.

Parameters:

[in,out]	mobod	The MobilizedBody to which this Motion should be added.
[in]	level	The Motion level that is being prescribed: Motion::Position, Motion::Velocity, or Motion::Acceleration.
[in]	amplitude	Scaling factor mapping the -1..1 sin() result to your desired units; output values will range between -amplitude and +amplitude.
[in]	rate	Angular rate in radians/unit time; e.g. if time is in seconds then rate=2*Pi would be 1 Hz (1 rotation per second).
[in]	phase	Phase angle in radians.

SimTK::Motion::Sinusoid::Sinusoid ( ) [inline]

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

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