| Overview |  |
Behaviours: gen_activity.
This module provides kinematics for ROSEN objects.
It is a gen_activity, so that basic kinematics is naturally added
to an object as one of his activities.
The step callback function updates the position of the object according
to the linear and angular speeds properties (the v, omega
and theta, respectively). A simple constant-speed linear
kinematics has only a linear speed v set to the desired speed value.
| get_property/3 | Retrieve the value of kinematic parameters. |
| init/2 | |
| set_property/4 | Set the value of kinematic parameters. |
| step/5 | Perform a step of the kinematic activity. |
| terminate/2 |
get_property(X1::Object3d, X2::Property, MotionState) -> term()
Retrieve the value of kinematic parameters. Depending on the Property parameter passed (either v or omega or theta), this function returns the current linear speed, the x-y angular speed or the y-z angular speed, respectively.
init() -> term()
set_property(X1::Object3d, X2::Property, Value, MotionState) -> term()
Set the value of kinematic parameters. Depending on the Property parameter passed (either v or omega or theta), this function sets the current linear speed, the x-y angular speed or the y-z angular speed, respectively, to Value.
step(ObjectPid, ObjectState, Time, DeltaTime, MotionState) -> {ok, NewMotionState}
Perform a step of the kinematic activity. This callback calculates the next position of the object according to the linear and angular speeds specified as parameters.
terminate() -> term()
Generated by EDoc, Nov 21 2007, 10:13:23.