ode.AMotor

Module ode :: Class AMotor

[show private | hide private]

Type AMotor

object --+    
         |    
     Joint --+
             |
            AMotor

AMotor joint.

Constructor:

 AMotor(world, jointgroup=None)

Method Summary
	`__init__(...)` x.__init__(...) initializes x; see x.__class__.__doc__ for signature
	`__new__(T, S, ...)` T.__new__(S, ...) -> a new object with type S, a subtype of T
	`addTorques(torque0, torque1, torque2)` Applies torques about the AMotor's axes.
float	`getAngle(anum)` Return the current angle for axis anum.
float	`getAngleRate(anum)` Return the current angle rate for axis anum.
	`getAxis(anum)` Get an AMotor axis.
int	`getAxisRel(anum)` Get the relative mode of an axis.
	`getMode()` Return the angular motor mode (AMotorUser or AMotorEuler).
int	`getNumAxes()` Get the number of angular axes that are controlled by the AMotor.
	`getParam(...)`
	`setAngle(anum, angle)` Tell the AMotor what the current angle is along axis anum.
	`setAxis(anum, rel, axis)` Set an AMotor axis.
	`setMode(mode)` Set the angular motor mode.
	`setNumAxes(num)` Set the number of angular axes that will be controlled by the AMotor.
	`setParam(...)`
Inherited from Joint
	`__delattr__(...)` x.__delattr__('name') <==> del x.name
	`__getattribute__(...)` x.__getattribute__('name') <==> x.name
	`__setattr__(...)` x.__setattr__('name', value) <==> x.name = value
	`attach(body1, body2)` Attach the joint to some new bodies.
Body	`getBody(index)` Return the bodies that this joint connects.
(force1, torque1, force2, torque2)	`getFeedback()` Get the forces/torques applied by the joint.
	`setFeedback(flag)` Create a feedback buffer.
	`_destroyed(...)` Notify the joint object about an external destruction of the ODE joint.
Inherited from object
	`__hash__(x)` x.__hash__() <==> hash(x)
	`__reduce__(...)` helper for pickle
	`__reduce_ex__(...)` helper for pickle
	`__repr__(x)` x.__repr__() <==> repr(x)
	`__str__(x)` x.__str__() <==> str(x)

Method Details

init(...)
(Constructor)

x.__init__(...) initializes x; see x.__class__.__doc__ for signature

Overrides:: ode.Joint.__init__

new(T, S, ...)

T.__new__(S, ...) -> a new object with type S, a subtype of T

Returns:

a new object with type S, a subtype of T

Overrides:: ode.Joint.__new__

addTorques(torque0, torque1, torque2)

Applies torques about the AMotor's axes.

Parameters:: torque0 - Torque 0 magnitude
(type=float); torque1 - Torque 1 magnitude
(type=float); torque2 - Torque 2 magnitude
(type=float)

getAngle(anum)

Return the current angle for axis anum.

Parameters:: anum - Axis index
(type=int)

Returns:: float

getAngleRate(anum)

Return the current angle rate for axis anum.

Parameters:: anum - Axis index
(type=int)

Returns:: float

getAxis(anum)

Get an AMotor axis.

Parameters:: anum - Axis index (0-2)
(type=int)

getAxisRel(anum)

Get the relative mode of an axis.

Parameters:: anum - Axis index (0-2)
(type=int)

Returns:: int

getMode()

Return the angular motor mode (AMotorUser or AMotorEuler).

getNumAxes()

Get the number of angular axes that are controlled by the AMotor.

Returns:: int

setAngle(anum, angle)

Tell the AMotor what the current angle is along axis anum.

Parameters:: anum - Axis index
(type=int); angle - Angle
(type=float)

setAxis(anum, rel, axis)

Set an AMotor axis.

The anum argument selects the axis to change (0,1 or 2). Each axis can have one of three "relative orientation" modes, selected by rel:

0: The axis is anchored to the global frame. 1: The axis is anchored to the first body. 2: The axis is anchored to the second body.

The axis vector is always specified in global coordinates regardless of the setting of rel.

Parameters:: anum - Axis number
(type=int); rel - Relative orientation mode
(type=int); axis - Axis
(type=3-sequence of floats)

setMode(mode)

Set the angular motor mode. mode must be either AMotorUser or AMotorEuler.

Parameters:: mode - Angular motor mode
(type=int)

setNumAxes(num)

Set the number of angular axes that will be controlled by the AMotor. num may be in the range from 0 to 3.

Parameters:: num - Number of axes (0-3)
(type=int)

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