Main Page   Namespace List   Class Hierarchy   Compound List   File List   Namespace Members   Compound Members  

SIG_Environment.h

00001 #ifndef SIGEL_ENVIRONMENT_SIG_ENVIRONMENT_H
00002 #define SIGEL_ENVIRONMENT_SIG_ENVIRONMENT_H
00003 
00004 #include "constraint.h"
00005 #include <qtextstream.h>
00006 #include <qstring.h>
00007 
00008 
00010 namespace SIGEL_Environment
00011 {
00012 
00019 class SIG_Environment {
00020  public:
00021 
00027   SIG_Environment();
00028 
00038   SIG_Environment(DL_vector newGravity, double newYPlaneLevel, double newVeloDamping, 
00039                   DL_vector newStartPosition, QString newFloorMaterialName, 
00040                   double newGroundPlanarSpringConstant, double newGroundPlanarSpringConstant, 
00041                   double newGroundPlanarDamperConstant, double newGroundNormalDamperConstant, 
00042                   double newFrictionCoeff_u_s, double newFrictionCoeff_u_k);
00043 
00051   SIG_Environment(QTextStream& file);
00052 
00060   void writeToFile(QTextStream& file);
00061 
00069   void readFromFile(QTextStream& file);
00070 
00078   void setGravity(DL_vector newGravity);
00079 
00085   DL_vector getGravity() const;
00086 
00094   void setVeloDamping(double newVeloDamping);
00095 
00101   double getVeloDamping() const;
00102 
00110   void setYPlaneLevel(double newYPlaneLevel);
00111 
00117   double getYPlaneLevel() const;
00118 
00126   void setStartPosition(DL_vector newStartPosition);
00127 
00133   DL_vector getStartPosition() const;
00134 
00142   void setFloorMaterialName(QString newFloorMaterialName);
00143 
00149   QString getFloorMaterialName() const;
00150 
00158   void setGroundPlanarSpringConstant(double newGroundPlanarSpringConstant);
00159 
00165   double getGroundPlanarSpringConstant() const;
00166 
00174   void setGroundNormalSpringConstant(double newGroundNormalSpringConstant);
00175 
00181   double getGroundNormalSpringConstant() const;
00182 
00190   void setGroundPlanarDamperConstant(double newGroundPlanarDamperConstant);
00191 
00197   double getGroundPlanarDamperConstant() const;
00198 
00206   void setGroundNormalDamperConstant(double newGroundNormalDamperConstant);
00207 
00213   double getGroundNormalDamperConstant() const;
00214 
00222   void setFrictionCoeff_u_s(double newFrictionCoeff_u_s);
00223 
00229   double getFrictionCoeff_u_s() const;
00230 
00238   void setFrictionCoeff_u_k(double newFrictionCoeff_u_k);
00239 
00245   double getFrictionCoeff_u_k() const;
00246 
00247 
00248  private:
00250   double yPlaneLevel;
00252   DL_vector gravity;
00254   double veloDamping;
00256   DL_vector startPosition;
00258   QString floorMaterialName;
00259 
00261   double groundPlanarSpringConstant;
00263   double groundNormalSpringConstant;
00265   double groundPlanarDamperConstant;
00267   double groundNormalDamperConstant;
00269   double frictionCoeff_u_s;
00271   double frictionCoeff_u_k;
00272 };
00273 
00274 }
00275 
00276 #endif // SIGEL_ENVIRONMENT_SIG_ENVIRONMENT_H
00277 
00278 

Generated at Mon Sep 3 01:32:20 2001 for PG 368 - SIGEL by doxygen1.2.3 written by Dimitri van Heesch, © 1997-2000