simulator-sdk  1.14
 All Classes Namespaces Functions Variables Enumerations Enumerator Pages
Public Member Functions
Sim::CoupledActuator Class Reference

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>

List of all members.

Public Member Functions

 CoupledActuator ()
 creates an empty CoupledActuator, you should not use this.
 ~CoupledActuator ()
 destructor.
const CoupledActuatorreflectedSymmetric () 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.
- Public Member Functions inherited from Sim::Actuator
 Actuator ()
 creates an empty Actuator, you should not use this.
 ~Actuator ()
 destructor.
const Frameframe () const
 returns the Frame of the Actuator.
virtual const std::string & name () const
 returns the name of the Actuator.
Type type () const
 returns the Type of the Actuator.

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
class ActuatorImpl * a_impl
 private implementation.

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: