/*****************************************************************************
 * DynaMechs: A Multibody Dynamic Simulation Library
 *
 * Copyright (C) 1994-2001  Scott McMillan   All Rights Reserved.
 *
 * This library is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * as published by the Free Software Foundation; either version 2
 * of the License, or (at your option) any later version.
 *
 * This library is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 * General Public License for more details.
 *
 * You should have received a copy of the GNU Library General Public
 * License along with this library; if not, write to the Free
 * Software Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
 *****************************************************************************
 *     File: dmActuator.cpp
 *   Author: Scott McMillan
 *  Summary: Class declaration for dmActuator.
 *****************************************************************************/

#include <dm.h>
#include <dmObject.hpp>
#include <dmActuator.hpp>

//============================================================================
// class dmActuator
//============================================================================

//----------------------------------------------------------------------------
//    Summary: class constructor
// Parameters: none
//    Returns: none
//----------------------------------------------------------------------------
dmActuator::dmActuator()
      : dmObject(),
        m_stiction_flag(true),
        m_prev_vel(0)

{
}


//----------------------------------------------------------------------------
//    Summary: initialize the stiction flag (essentially an internal state var)
// Parameters: qd - initial joint velocity
//    Returns: none
//----------------------------------------------------------------------------
void dmActuator::initStiction(Float qd)
{
   m_prev_vel = qd;
   if (qd == 0.0)
   {
      m_stiction_flag = true;
   }
   else
   {
      m_stiction_flag = false;
   }
}