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simulator-sdk
1.14
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simulator-sdk
1.14
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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 () | |
| creates an empty CoupledActuator, you should not use this. | |
| ~CoupledActuator () | |
| destructor. | |
| const CoupledActuator * | 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. | |
| 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. | |
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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 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. | |
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.
| Sim::CoupledActuator::CoupledActuator | ( | ) |
creates an empty CoupledActuator, you should not use this.
