Robot Simulator of the Robotics Group for Self-Organization of Control  0.8.0
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AngularMotorNAxis Class Reference

Angular motor for arbitrary Joints with custom axis (up to 3) More...

#include <angularmotor.h>

Inheritance diagram for AngularMotorNAxis:
Collaboration diagram for AngularMotorNAxis:

Public Member Functions

 AngularMotorNAxis (const OdeHandle &odeHandle, Joint *joint, std::list< std::pair< double, Axis > > axis)
 Constuct a motor attached to any Joint (not Sliders!). More...
 
virtual ~AngularMotorNAxis ()
 
virtual void init (Primitive *own, Joint *joint=0) override
 initialises motor with body of robot More...
 
virtual int getNumberOfAxes () const override
 returns the number of Axis of this Motor More...
 
virtual void set (int axisNumber, double velocity)
 sets the desired speed of the motor at the given axis. More...
 
virtual double get (int axisNumber) const override
 returns the speed (PositionRate) at the given axis, or zero if the axis is out of range The problem is, that we don't have actual information available. More...
 
virtual void setPower (double power)
 sets the maximal force the motor has More...
 
- Public Member Functions inherited from AngularMotor
 AngularMotor (const OdeHandle &odeHandle, Joint *joint)
 creates a AMotor attached to the same bodies as the given joint. More...
 
virtual ~AngularMotor ()
 
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< sensorgetList () 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 double getPower ()
 return the maximal force More...
 
virtual JointgetJoint ()
 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< sensorgetListOfArray () 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< SensorMotorInfogetInfos (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

std::list< std::pair< double,
Axis > > 
axis
 
- Protected Attributes inherited from AngularMotor
dJointID motor
 
OdeHandle odeHandle
 
double velocityFactor
 
Jointjoint
 
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< sensorselectrows (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

Angular motor for arbitrary Joints with custom axis (up to 3)

Constructor & Destructor Documentation

AngularMotorNAxis ( const OdeHandle odeHandle,
Joint joint,
std::list< std::pair< double, Axis > >  axis 
)

Constuct a motor attached to any Joint (not Sliders!).

The axis have to be provided by the user.

Parameters
axislist of axis vector and power If empty then it motor is disabled. Power is the maximum force or torque that the motor will use to achieve the desired velocity. This must always be greater than or equal to zero. Setting this to zero (the default value) turns off the motor.

The axis have to be provided by the user.

Parameters
axislist of axis vectors and power. If empty then the motor is disabled. Power is the maximum force or torque that the motor will use to achieve the desired velocity. This must always be greater than or equal to zero. Setting this to zero (the default value) turns off the motor.
virtual ~AngularMotorNAxis ( )
inlinevirtual

Member Function Documentation

double get ( int  axisNumber) const
overridevirtual

returns the speed (PositionRate) at the given axis, or zero if the axis is out of range The problem is, that we don't have actual information available.

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

So we return the last set position!.

Implements AngularMotor.

int getNumberOfAxes ( ) const
overridevirtual

returns the number of Axis of this Motor

Implements AngularMotor.

void init ( Primitive own,
Joint joint = 0 
)
overridevirtual

initialises motor with body of robot

Reimplemented from AngularMotor.

void set ( int  axisNumber,
double  velocity 
)
virtual

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

Parameters
velocityDesired motor velocity (this will be an angular or linear velocity).
axisNumbereither 0 or 1
velocityDesired motor velocity (this will be an angular or linear velocity).

Implements AngularMotor.

void setPower ( double  power)
virtual

sets the maximal force the motor has

Implements AngularMotor.

Member Data Documentation

std::list<std::pair<double, Axis > > axis
protected

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