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

Public Member Functions
	TorqueActuator ()
	creates an empty TorqueActuator, you should not use this.
	~TorqueActuator ()
	destructor.
const TorqueActuator *	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.
double	derivativeGain () const
	returns the derivative gain of the Actuator.
virtual int	bufferSize () const
	returns the size of the buffer of a command to the TorqueActuator in bits.
float	startValue () const
	returns the start value of the TorqueActuator (in Newton per meter).
float	minValue () const
	returns the minimal value of the TorqueActuator (in Newton per meter).
float	maxValue () const
	returns the maximal value of the TorqueActuator (in Newton per meter).
const Joint *	controlledJoint () const
	returns the controlled joint by the TorqueActuator.

Detailed Description

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

Definition at line 531 of file alrobotmodel.h.

Constructor & Destructor Documentation

Sim::TorqueActuator::TorqueActuator ( )

creates an empty TorqueActuator, you should not use this.

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

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