Sim::Actuator Class Reference

Actuator is a generic class defining a robot owned object that have an influence on it and/or its environment. More...

#include <alrobotmodel.h>

Public Types
enum	Type {   ANGLE_MOTOR, COUPLED_MOTOR, TORQUE_MOTOR, ANGLE_SPEED_MOTOR,   WHEEL_TORQUE, WHEEL_VELOCITY, LED }
	gives the type of the Actuator. More...

Public Member Functions
	Actuator (class ActuatorImpl *impl)
	private constructor. More...
	Actuator (const Actuator &other)
	copy constructor. More...
	~Actuator ()
	destructor. More...
const Frame *	frame () 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...
virtual int	bufferSize () const =0
	returns the size of the buffer of a command to the Actuator in bits. More...

Public Attributes
ActuatorImpl *	a_impl
	private implementation More...

Detailed Description

Actuator is a generic class defining a robot owned object that have an influence on it and/or its environment.

Definition at line 574 of file alrobotmodel.h.

Member Enumeration Documentation

enum Sim::Actuator::Type

gives the type of the Actuator.

Enumerator
ANGLE_MOTOR
COUPLED_MOTOR
TORQUE_MOTOR
ANGLE_SPEED_MOTOR
WHEEL_TORQUE
WHEEL_VELOCITY
LED	Not implemented yet.

Definition at line 578 of file alrobotmodel.h.

Constructor & Destructor Documentation

Sim::Actuator::Actuator

(

class ActuatorImpl *

impl

)

private constructor.

Sim::Actuator::Actuator

(

const Actuator &

other

)

copy constructor.

Sim::Actuator::~Actuator

(

)

destructor.

Member Function Documentation

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

pure virtual

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

Implemented in Sim::LEDActuator, Sim::WheelVelocityActuator, Sim::WheelTorqueActuator, Sim::AngleSpeedActuator, Sim::TorqueActuator, Sim::CoupledActuator, Sim::AngleActuator, and Sim::DCMActuator.

const Frame* Sim::Actuator::frame

(

)

const

returns the Frame of the Actuator.

virtual const std::string& Sim::Actuator::name ( ) const

virtual

returns the name of the Actuator.

Type Sim::Actuator::type

(

)

const

returns the Type of the Actuator.

Member Data Documentation

ActuatorImpl* Sim::Actuator::a_impl

private implementation

Definition at line 606 of file alrobotmodel.h.

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

• /home/opennao/work/release-2.5/agility/alrobotmodel/libalrobotmodel/alrobotmodel/alrobotmodel.h