Angular motor for Ball Joints with Euler control. More...

#include <angularmotor.h>

Inheritance diagram for AngularMotor3AxisEuler:

Collaboration diagram for AngularMotor3AxisEuler:

Public Member Functions
	AngularMotor3AxisEuler (const OdeHandle &odeHandle, BallJoint *joint, const Axis &axis1, const Axis &axis3, double power)
	Constuct a motor attached to a BallJoint. More...

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 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< 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 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
Axis	axis1

Axis	axis3

double	power

Protected Attributes inherited from AngularMotor
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

Angular motor for Ball Joints with Euler control.

Constructor & Destructor Documentation

AngularMotor3AxisEuler	(	const OdeHandle &	odeHandle,
		BallJoint *	joint,
		const Axis &	axis1,
		const Axis &	axis3,
		double	power
	)

Constuct a motor attached to a BallJoint.

Parameters

axis1	axis relative to body 1
axis3	axis relative to body 2 (must be perpendicular to axis1 (the axis 2 is calculated automatically)
power	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.

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

Implements AngularMotor.

virtual int getNumberOfAxes ( ) const

inlineoverridevirtual

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

axisNumber	either 0 or 1
velocity	Desired 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

Axis axis1

protected

Axis axis3

protected

double power

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