alrobotmodel  2.5.7.1
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Sim::CoupledActuator Class Reference

CoupledActuator is a class defining a coupled motor. It is attached to several joints and can actuate them. Its command is between 0 and 1. More...

#include <alrobotmodel.h>

Public Member Functions

 CoupledActuator (class CoupledActuatorImpl *impl)
 private constructor. More...
 
 CoupledActuator (const CoupledActuator &other)
 copy constructor. More...
 
 ~CoupledActuator ()
 destructor. More...
 
const CoupledActuatorreflectedSymmetric () const
 returns the reflected symmetric Actuator, and NULL if it is not defined. More...
 
bool reflectedSymmetricReversed () const
 returns if the symmetric actuator is reversed w.r.t. to the current actuator, false if there is no symmetric actuator defined. More...
 
bool reflectionForced () const
 returns true if the actuator is always reflected. More...
 
virtual int bufferSize () const
 returns the size of the buffer of a command to the CoupledActuator in bits. More...
 
float startValue () const
 returns the start value of the CoupledActuator (between 0 and 1, no unit). More...
 
float minValue () const
 returns the minimal value of the CoupledActuator (between 0 and 1, no unit). More...
 
float maxValue () const
 returns the maximal value of the CoupledActuator (between 0 and 1, no unit). More...
 
float maxSpeed () const
 returns the maximal speed of the CoupledActuator in Hertz. More...
 
std::vector< std::pair< const
Joint *, float > > 
controlledJointAndRatios () const
 returns the controlled joints and the ratio of the rotation of the associated joint per the command. More...
 
- Public Member Functions inherited from Sim::DCMActuator
 DCMActuator (class DCMActuatorImpl *impl)
 private constructor. More...
 
 DCMActuator (const DCMActuator &other)
 copy constructor. More...
 
 ~DCMActuator ()
 destructor More...
 
const std::vector< std::string > & dcmKeys () const
 returns a vector of the strings in the DCM concerning this actuator. More...
 
- Public Member Functions inherited from Sim::Actuator
 Actuator (class ActuatorImpl *impl)
 private constructor. More...
 
 Actuator (const Actuator &other)
 copy constructor. More...
 
 ~Actuator ()
 destructor. More...
 
const Frameframe () const
 returns the Frame of the Actuator. More...
 
virtual const std::string & name () const
 returns the name of the Actuator. More...
 
Type type () const
 returns the Type of the Actuator. More...
 

Additional Inherited Members

- Public Types inherited from Sim::Actuator
enum  Type {
  ANGLE_MOTOR, COUPLED_MOTOR, TORQUE_MOTOR, ANGLE_SPEED_MOTOR,
  WHEEL_TORQUE, WHEEL_VELOCITY, LED
}
 gives the type of the Actuator. More...
 
- Public Attributes inherited from Sim::Actuator
ActuatorImpl * a_impl
 private implementation More...
 

Detailed Description

CoupledActuator is a class defining a coupled motor. It is attached to several joints and can actuate them. Its command is between 0 and 1.

Definition at line 698 of file alrobotmodel.h.

Constructor & Destructor Documentation

Sim::CoupledActuator::CoupledActuator ( class CoupledActuatorImpl *  impl)

private constructor.

Sim::CoupledActuator::CoupledActuator ( const CoupledActuator other)

copy constructor.

Sim::CoupledActuator::~CoupledActuator ( )

destructor.

Member Function Documentation

virtual int Sim::CoupledActuator::bufferSize ( ) const
virtual

returns the size of the buffer of a command to the CoupledActuator in bits.

Implements Sim::DCMActuator.

std::vector<std::pair<const Joint*, float> > Sim::CoupledActuator::controlledJointAndRatios ( ) const

returns the controlled joints and the ratio of the rotation of the associated joint per the command.

float Sim::CoupledActuator::maxSpeed ( ) const

returns the maximal speed of the CoupledActuator in Hertz.

float Sim::CoupledActuator::maxValue ( ) const

returns the maximal value of the CoupledActuator (between 0 and 1, no unit).

float Sim::CoupledActuator::minValue ( ) const

returns the minimal value of the CoupledActuator (between 0 and 1, no unit).

const CoupledActuator* Sim::CoupledActuator::reflectedSymmetric ( ) const

returns the reflected symmetric Actuator, and NULL if it is not defined.

bool Sim::CoupledActuator::reflectedSymmetricReversed ( ) const

returns if the symmetric actuator is reversed w.r.t. to the current actuator, false if there is no symmetric actuator defined.

bool Sim::CoupledActuator::reflectionForced ( ) const

returns true if the actuator is always reflected.

float Sim::CoupledActuator::startValue ( ) const

returns the start value of the CoupledActuator (between 0 and 1, no unit).


The documentation for this class was generated from the following file: