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| TwoAxisServo (TwoAxisJoint *joint, double _min1, double _max1, double power1, double _min2, double _max2, double power2, 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...
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virtual | ~TwoAxisServo () |
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virtual void | set (double pos1, double pos2) |
| sets the set point of the servo. More...
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virtual double | get1 () const |
| returns the position of the servo (joint) of 1. More...
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virtual double | get2 () const |
| returns the position of the servo (joint) of 2. More...
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void | get (double &p1, double &p2) const |
| returns the positions of the joint in ranges [-1, 1] (scaled by min, max) More...
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virtual void | init (Primitive *own, Joint *joint=0) override |
| initialises motor with body of robot More...
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virtual bool | sense (const GlobalData &globaldata) override |
| performs sense action More...
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virtual int | getSensorNumber () const override |
| returns the number of sensors values produced by this sensor More...
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virtual std::list< sensor > | getList () const |
| returns a list of sensor values (usually in the range [-1,1] ) This function should be overloaded. More...
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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...
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virtual int | getMotorNumber () const override |
| return the dimensionality of this motor More...
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virtual bool | act (GlobalData &globaldata) override |
| performs the actions, This is usually called in doInternalStuff() from the robot More...
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virtual int | set (const motor *values, int length) override |
| sends the action commands to the motor. More...
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virtual void | setPower (double power1, double power2) |
| adjusts the power of the servo More...
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virtual void | setPower1 (double power1) |
| returns the power of the servo More...
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virtual void | setPower2 (double power2) |
| returns the power of the servo More...
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virtual double | getPower1 () |
| returns the power of the servo More...
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virtual double | getPower2 () |
| returns the power of the servo More...
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virtual double | getDamping1 () |
| returns the damping of the servo (axis 1) More...
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virtual double | getDamping2 () |
| returns the damping of the servo (axis 2) More...
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virtual TwoAxisJoint * | getJoint () |
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virtual void | setDamping1 (double damp) |
| sets the damping of the servo (axis 1) More...
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virtual void | setDamping2 (double damp) |
| sets the damping of the servo (axis 1) More...
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virtual void | setDamping (double _damp) |
| sets the damping of the servo (both axis) More...
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virtual double & | offsetCanceling () |
| returns the damping of the servo More...
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virtual void | setMinMax1 (double _min, double _max) |
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virtual void | setMinMax2 (double _min, double _max) |
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virtual void | setMaxVel (double maxVel) |
| adjusts maximal speed of servo More...
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virtual double | getMaxVel () |
| adjusts maximal speed of servo More...
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| Sensor () |
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virtual | ~Sensor () |
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virtual std::list
< SensorMotorInfo > | getSensorInfos () const |
| returns a list of sensor infos ( More...
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virtual void | update () |
| to update any visual appearance More...
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std::list< sensor > | getListOfArray () const |
| helper function for performance implementation of list<> get() based on array-get More...
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| SensorMotorInfoAble () |
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void | setBaseName (const std::string &basename) |
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void | setBaseInfo (const SensorMotorInfo &baseinfo) |
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SensorMotorInfo | getBaseInfo () |
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void | setNamingFunc (const NamingFunction &func) |
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NamingFunction | getNamingFunc () const |
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void | setNames (const std::vector< std::string > &names) |
| set names explicitly (basename is anyway suffixed) More...
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std::string | getName (int index) const |
| returns the name of a single item. Typically called from within Sensor and Motor class. More...
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std::list< SensorMotorInfo > | getInfos (int number) const |
| get all infos. More...
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| Motor () |
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virtual | ~Motor () |
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virtual std::list
< SensorMotorInfo > | getMotorInfos () const |
| returns a list of motor names ( More...
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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...
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typedef std::function
< std::string(int)> | NamingFunction |
| function that returns the name given the index More...
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static std::list< sensor > | selectrows (const matrix::Matrix &m, short dimensions) |
| selects the rows specified by dimensions (X->0, Y->1, Z->2) More...
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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...
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static Dimensions | parseSensorDimension (char *str) |
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static std::string | dimensions2String (short dimensions) |
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static std::string | defaultNameing (int index) |
| the default implementation is for index==0: basename, otherwise basename + (index+1) More...
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general servo motor for 2 axis joints