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...

Public Member Functions
	CoupledActuator ()
	creates an empty CoupledActuator, you should not use this.
	~CoupledActuator ()
	destructor.
const CoupledActuator *	reflectedSymmetric () const
	returns the reflected symmetric Actuator, and NULL if it is not defined.
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.
double	proportionalGain () const
	returns the proportional gain of the Actuator.
virtual int	bufferSize () const
	returns the size of the buffer of a command to the CoupledActuator in bits.
float	startValue () const
	returns the start value of the CoupledActuator (between 0 and 1, no unit).
float	minValue () const
	returns the minimal value of the CoupledActuator (between 0 and 1, no unit).
float	maxValue () const
	returns the maximal value of the CoupledActuator (between 0 and 1, no unit).
float	maxSpeed () const
	returns the maximal speed of the CoupledActuator in Hertz.
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.

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 491 of file alrobotmodel.h.

Constructor & Destructor Documentation

Sim::CoupledActuator::CoupledActuator ( )

creates an empty CoupledActuator, you should not use this.

Warning:: The CoupledActuator being empty, every access to this object will throw.

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