general servo motor to achieve position control More...

#include <oneaxisservo.h>

Inheritance diagram for OneAxisServo:

Collaboration diagram for OneAxisServo:

Public Member Functions
	OneAxisServo (OneAxisJoint *joint, double _min, double _max, double power, double damp=0.2, double integration=2, double maxVel=10.0, double jointLimit=1.3, bool minmaxCheck=true)
	min and max values are understood as travel bounds. More...

virtual	~OneAxisServo ()

virtual void	set (double pos)
	sets the set point of the servo. More...

virtual double	get () const
	returns the position of the joint in the range [-1, 1] (scaled by min, max) 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
	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
	writes the sensor values (usually in the range [-1,1] ) into the given sensor array and returns the number of sensors written. 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	setMinMax (double _min, double _max)

virtual void	setPower (double power)
	adjusts the power of the servo More...

virtual double	getPower ()
	returns the power of the servo More...

virtual double	getDamping ()
	returns the damping of the servo More...

virtual void	setDamping (double damp)
	sets the damping of the servo More...

virtual double &	offsetCanceling ()
	returns the integration term of the PID controller of the servo More...

virtual void	setMaxVel (double maxVel)
	adjusts maximal speed of servo More...

virtual double	getMaxVel ()
	adjusts maximal speed of servo 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
OneAxisJoint *	joint

double	min

double	max

PID	pid

double	maxVel

double	jointLimit
	joint limit with respect to servo limit More...

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

general servo motor to achieve position control

Constructor & Destructor Documentation

OneAxisServo	(	OneAxisJoint *	joint,
		double	_min,
		double	_max,
		double	power,
		double	damp = `0.2`,
		double	integration = `2`,
		double	maxVel = `10.0`,
		double	jointLimit = `1.3`,
		bool	minmaxCheck = `true`
	)

min and max values are understood as travel bounds.

Min should be less than 0.

~OneAxisServo ( )

virtual

Member Function Documentation

virtual bool act ( GlobalData & globaldata )

inlineoverridevirtual

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

Implements Motor.

virtual double get ( ) const

inlinevirtual

returns the position of the joint in the range [-1, 1] (scaled by min, max)

Reimplemented in SliderServoVel, OneAxisServoVel, and OneAxisServoCentered.

virtual int get	(	sensor *	sensors,
		int	length
	)		const

inlinevirtual

writes the sensor values (usually in the range [-1,1] ) into the given sensor array and returns the number of sensors written.

A default implementation based on get() is provided. Only if performance matters overwrite this function.

Parameters

sensors	call by refernce array which received the values
length	capacity of sensors array

Returns: number of sensor values written

Reimplemented from Sensor.

virtual double getDamping ( )

inlinevirtual

returns the damping of the servo

Reimplemented in SliderServoVel, and OneAxisServoVel.

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

inlinevirtual

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 double getMaxVel ( )

inlinevirtual

adjusts maximal speed of servo

Reimplemented in SliderServoVel, and OneAxisServoVel.

virtual int getMotorNumber ( ) const

inlineoverridevirtual

return the dimensionality of this motor

Implements Motor.

virtual double getPower ( )

inlinevirtual

returns the power of the servo

Reimplemented in SliderServoVel, and OneAxisServoVel.

virtual int getSensorNumber ( ) const

inlineoverridevirtual

returns the number of sensors values produced by this sensor

Implements Sensor.

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

inlineoverridevirtual

initialises motor with body of robot

Implements Motor.

Reimplemented in OneAxisServoVel.

virtual double& offsetCanceling ( )

inlinevirtual

returns the integration term of the PID controller of the servo

Reimplemented in SliderServoVel, and OneAxisServoVel.

virtual bool sense ( const GlobalData & globaldata )

inlineoverridevirtual

performs sense action

Implements Sensor.

void set ( double pos )

virtual

sets the set point of the servo.

Position must be between -1 and 1. It is scaled to fit into min, max

Reimplemented in SliderServoVel, OneAxisServoVel, OneAxisServoCentered, and Spring.

virtual int set	(	const motor *	values,
		int	length
	)

inlineoverridevirtual

sends the action commands to the motor.

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

Implements Motor.

virtual void setDamping ( double damp )

inlinevirtual

sets the damping of the servo

Reimplemented in SliderServoVel, and OneAxisServoVel.

virtual void setMaxVel ( double maxVel )

inlinevirtual

adjusts maximal speed of servo

Reimplemented in SliderServoVel, and OneAxisServoVel.

virtual void setMinMax	(	double	_min,
		double	_max
	)

inlinevirtual

Reimplemented in Spring.

virtual void setPower ( double power )

inlinevirtual

adjusts the power of the servo

Reimplemented in SliderServoVel, and OneAxisServoVel.

Member Data Documentation

OneAxisJoint* joint

protected

double jointLimit

protected

joint limit with respect to servo limit

double max

protected

double maxVel

protected

double min

protected

PID pid

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