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alrobotmodel
2.1.0.18
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alrobotmodel
2.1.0.18
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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. | |
| CoupledActuator (const CoupledActuator &other) | |
| copy constructor. | |
| ~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. | |
| bool | reflectionForced () const |
| returns true if the actuator is always reflected. | |
| 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. | |
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 689 of file alrobotmodel.h.
