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alrobotmodel
2.5.11.14a
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alrobotmodel
2.5.11.14a
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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 CoupledActuator * | reflectedSymmetric () 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 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... | |
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... | |
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.
| Sim::CoupledActuator::CoupledActuator | ( | class CoupledActuatorImpl * | impl | ) |
private constructor.
| Sim::CoupledActuator::CoupledActuator | ( | const CoupledActuator & | other | ) |
copy constructor.
| Sim::CoupledActuator::~CoupledActuator | ( | ) |
destructor.
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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).
