alrobotmodel  2.5.7.1
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Sim::TorqueActuator Class Reference

TorqueActuator is a class defining a torque-controlled motor. It is attached to one joint and can actuate it. More...

#include <alrobotmodel.h>

Public Member Functions

 TorqueActuator (class TorqueActuatorImpl *impl)
 private constructor. More...
 
 TorqueActuator (const TorqueActuator &other)
 copy constructor. More...
 
 ~TorqueActuator ()
 destructor. More...
 
const TorqueActuatorreflectedSymmetric () 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...
 
virtual int bufferSize () const
 returns the size of the buffer of a command to the TorqueActuator in bits. More...
 
float startValue () const
 returns the start value of the TorqueActuator (in Newton per meter). More...
 
float minValue () const
 returns the minimal value of the TorqueActuator (in Newton per meter). More...
 
float maxValue () const
 returns the maximal value of the TorqueActuator (in Newton per meter). More...
 
const JointcontrolledJoint () const
 returns the controlled joint by the TorqueActuator. 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

TorqueActuator is a class defining a torque-controlled motor. It is attached to one joint and can actuate it.

Definition at line 738 of file alrobotmodel.h.

Constructor & Destructor Documentation

Sim::TorqueActuator::TorqueActuator ( class TorqueActuatorImpl *  impl)

private constructor.

Sim::TorqueActuator::TorqueActuator ( const TorqueActuator other)

copy constructor.

Sim::TorqueActuator::~TorqueActuator ( )

destructor.

Member Function Documentation

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

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

Implements Sim::DCMActuator.

const Joint* Sim::TorqueActuator::controlledJoint ( ) const

returns the controlled joint by the TorqueActuator.

float Sim::TorqueActuator::maxValue ( ) const

returns the maximal value of the TorqueActuator (in Newton per meter).

float Sim::TorqueActuator::minValue ( ) const

returns the minimal value of the TorqueActuator (in Newton per meter).

const TorqueActuator* Sim::TorqueActuator::reflectedSymmetric ( ) const

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

bool Sim::TorqueActuator::reflectedSymmetricReversed ( ) const

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

float Sim::TorqueActuator::startValue ( ) const

returns the start value of the TorqueActuator (in Newton per meter).


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