#include "BodyEnvironment.hpp"
#include "Ground.hpp"
#include "RigidBody.hpp"
-
#include "Launchbar.hpp"
namespace yasim {
_pos_on_cat = 0.0;
_state = Unmounted;
_strop = false;
+ _acceleration = 0.25;
}
void Launchbar::setLaunchbarMount(float* position)
_launch_cmd = cmd;
}
+void Launchbar::setAcceleration(float acceleration)
+{
+ _acceleration = acceleration;
+}
+
void Launchbar::setGlobalGround(double *global_ground)
{
int i;
if (_state == Launch) {
// Now apply a constant tension from the catapult over the launchbar.
- Math::mul3(25.0, llbdir, _launchbar_force);
+ // We modify the max accleration 100 m/s^2 by the normalised input
+ //SG_LOG(SG_FLIGHT, SG_ALERT, "acceleration " << 100 * _acceleration );
+ Math::mul3(100 * _acceleration, llbdir, _launchbar_force);
if (1.0 < dist) {
_state = Completed;