Abstract angular motor class. More...

#include <angularmotor.h>

Inheritance diagram for AngularMotor:

Collaboration diagram for AngularMotor:

Public Member Functions
	AngularMotor (const OdeHandle &odeHandle, Joint *joint)
	creates a AMotor attached to the same bodies as the given joint. More...

virtual	~AngularMotor ()

virtual int	getNumberOfAxes () const =0
	returns the number of Axis of this Motor More...

virtual void	init (Primitive own, Joint joint=0) override
	initialises motor with body of robot More...

virtual bool	sense (const GlobalData &globaldata) override
	performs sense action More...

virtual int	getSensorNumber () const override
	returns the number of sensors values produced by this sensor More...

virtual std::list< sensor >	getList () const override
	returns a list of sensor values (usually in the range [-1,1] ) This function should be overloaded. More...

virtual int	get (sensor *sensors, int length) const override
	returns the speed (PositionRate) of all axis More...

virtual int	getMotorNumber () const override
	return the dimensionality of this motor More...

virtual bool	act (GlobalData &globaldata) override
	performs the actions, This is usually called in doInternalStuff() from the robot More...

virtual int	set (const motor *values, int length) override
	sends the action commands to the motor. More...

virtual void	set (int axisNumber, double velocity)=0
	sets the desired speed of the motor at the given axis. More...

virtual double	get (int axisNumber) const =0
	returns the speed (PositionRate) at the given axis, or zero if the axis is out of range More...

virtual void	setPower (double power)=0
	sets the maximal force the motor has More...

virtual double	getPower ()
	return the maximal force More...

virtual Joint *	getJoint ()
	returns the joint to which this motor is attached More...

virtual void	setParam (int parameter, double value)
	sets the parameters of the motor More...

virtual double	getParam (int parameter)
	return the ODE joint parameter (see ODE manual) More...

virtual void	setVelovityFactor (double factor)
	sets factor for velocity More...

virtual double	getVelovityFactor (double factor)
	retuns factor for velocity More...

Public Member Functions inherited from Sensor
	Sensor ()

virtual	~Sensor ()

virtual std::list < SensorMotorInfo >	getSensorInfos () const
	returns a list of sensor infos ( More...

virtual void	update ()
	to update any visual appearance More...

std::list< sensor >	getListOfArray () const
	helper function for performance implementation of list<> get() based on array-get More...

Public Member Functions inherited from SensorMotorInfoAble
	SensorMotorInfoAble ()

void	setBaseName (const std::string &basename)

void	setBaseInfo (const SensorMotorInfo &baseinfo)

SensorMotorInfo	getBaseInfo ()

void	setNamingFunc (const NamingFunction &func)

NamingFunction	getNamingFunc () const

void	setNames (const std::vector< std::string > &names)
	set names explicitly (basename is anyway suffixed) More...

std::string	getName (int index) const
	returns the name of a single item. Typically called from within Sensor and Motor class. More...

std::list< SensorMotorInfo >	getInfos (int number) const
	get all infos. More...

Public Member Functions inherited from Motor
	Motor ()

virtual	~Motor ()

virtual std::list < SensorMotorInfo >	getMotorInfos () const
	returns a list of motor names ( More...

Protected Attributes
dJointID	motor

OdeHandle	odeHandle

double	velocityFactor

Joint *	joint

bool	initialized

Protected Attributes inherited from SensorMotorInfoAble
NamingFunction	func

SensorMotorInfo	baseinfo

Additional Inherited Members
Public Types inherited from Sensor
enum	Dimensions { X = 1, Y = 2, Z = 4, XY = X \| Y, XZ = X \| Z, YZ = Y \| Z, XYZ = X \| Y \| Z }
	defines which dimensions should be sensed. The meaning is sensor specific. More...

Public Types inherited from SensorMotorInfoAble
typedef std::function < std::string(int)>	NamingFunction
	function that returns the name given the index More...

Static Public Member Functions inherited from Sensor
static std::list< sensor >	selectrows (const matrix::Matrix &m, short dimensions)
	selects the rows specified by dimensions (X->0, Y->1, Z->2) More...

static int	selectrows (sensor *sensors, int length, const matrix::Matrix &m, short dimensions)
	selects the rows specified by dimensions (X->0, Y->1, Z->2) More...

static Dimensions	parseSensorDimension (char *str)

static std::string	dimensions2String (short dimensions)

Static Public Member Functions inherited from SensorMotorInfoAble
static std::string	defaultNameing (int index)
	the default implementation is for index==0: basename, otherwise basename + (index+1) More...

Detailed Description

Abstract angular motor class.

This is a wrapper for ODE's AMotor.

Constructor & Destructor Documentation

AngularMotor	(	const OdeHandle &	odeHandle,
		Joint *	joint
	)

creates a AMotor attached to the same bodies as the given joint.

~AngularMotor ( )

virtual

Member Function Documentation

virtual bool act ( GlobalData & globaldata )

inlineoverridevirtual

performs the actions, This is usually called in doInternalStuff() from the robot

Implements Motor.

int get	(	sensor *	sensors,
		int	len
	)		const

overridevirtual

returns the speed (PositionRate) of all axis

Parameters

velocities	double array to fill in the velocities
len	length of the given array

Returns: number actually returned velocities

Reimplemented from Sensor.

virtual double get ( int axisNumber ) const

pure virtual

returns the speed (PositionRate) at the given axis, or zero if the axis is out of range

Implemented in AngularMotorNAxis, AngularMotor3AxisEuler, AngularMotor2Axis, and AngularMotor1Axis.

virtual Joint* getJoint ( )

inlinevirtual

returns the joint to which this motor is attached

virtual std::list<sensor> getList ( ) const

inlineoverridevirtual

returns a list of sensor values (usually in the range [-1,1] ) This function should be overloaded.

If performance matters, implement get(double*, int) and use getListOfArray to implement this.

Implements Sensor.

virtual int getMotorNumber ( ) const

inlineoverridevirtual

return the dimensionality of this motor

Implements Motor.

virtual int getNumberOfAxes ( ) const

pure virtual

returns the number of Axis of this Motor

Implemented in AngularMotorNAxis, AngularMotor3AxisEuler, AngularMotor2Axis, and AngularMotor1Axis.

double getParam ( int parameter )

virtual

return the ODE joint parameter (see ODE manual)

gets the parameters of the motor

double getPower ( )

virtual

return the maximal force

virtual int getSensorNumber ( ) const

inlineoverridevirtual

returns the number of sensors values produced by this sensor

Implements Sensor.

double getVelovityFactor ( double factor )

virtual

retuns factor for velocity

void init	(	Primitive *	own,
		Joint *	joint = `0`
	)

overridevirtual

initialises motor with body of robot

Implements Motor.

Reimplemented in AngularMotorNAxis, AngularMotor3AxisEuler, AngularMotor2Axis, and AngularMotor1Axis.

virtual bool sense ( const GlobalData & globaldata )

inlineoverridevirtual

performs sense action

Implements Sensor.

int set	(	const motor *	values,
		int	len
	)

overridevirtual

sends the action commands to the motor.

sets the desired speed of all motor.

It returns the number of used values. (should be equal to getMotorNumber)

Parameters

velocities	double array with desired velocities
len	length of the given array

Returns: number actually set velocities

Implements Motor.

virtual void set	(	int	axisNumber,
		double	velocity
	)

pure virtual

sets the desired speed of the motor at the given axis.

Parameters

velocity Desired motor velocity (this will be an angular or linear velocity).

Implemented in AngularMotorNAxis, AngularMotor3AxisEuler, AngularMotor2Axis, and AngularMotor1Axis.

void setParam	(	int	parameter,
		double	value
	)

virtual

sets the parameters of the motor

virtual void setPower ( double power )

pure virtual

sets the maximal force the motor has

Implemented in AngularMotorNAxis, AngularMotor3AxisEuler, AngularMotor2Axis, and AngularMotor1Axis.

void setVelovityFactor ( double factor )

virtual

sets factor for velocity

Member Data Documentation

bool initialized

protected

Joint* joint

protected

dJointID motor

protected

OdeHandle odeHandle

protected

double velocityFactor

protected

The documentation for this class was generated from the following files:

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation