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simulator-sdk
1.14
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simulator-sdk
1.14
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TorqueActuator is a class defining a torque-controlled motor. It is attached to one joint and can actuate it. More...
#include <alrobotmodel.h>
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. | |
 Public Member Functions inherited from Sim::Actuator | |
| Actuator () | |
| creates an empty Actuator, you should not use this. | |
| ~Actuator () | |
| destructor. | |
| const Frame * | frame () 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. | |
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.
| Sim::TorqueActuator::TorqueActuator | ( | ) |
creates an empty TorqueActuator, you should not use this.
