#include <sliderwheelie.h>
Public Types | |
| Servo | |
| CenteredServo | |
| AngularMotor | |
| enum | MotorType { Servo, CenteredServo, AngularMotor } |
Public Attributes | |
| int | segmNumber |
| number of snake elements | |
| double | segmLength |
| length of one snake element | |
| double | segmDia |
| diameter of a snake element | |
| double | segmMass |
| mass of one snake element | |
| double | motorPower |
| power of the motors / servos | |
| double | motorDamp |
| damping of motors | |
| double | powerRatio |
| ratio of motorpower for hinge vs. slider | |
| double | sensorFactor |
| scale for sensors | |
| double | frictionGround |
| friction with ground | |
| double | frictionJoint |
| friction within joint | |
| double | jointLimitIn |
| maximal angle for the joints to the inside (M_PI/2 = 90 degree) | |
| double | jointLimitOut |
| maximal angle for the joints to the outside | |
| double | sliderLength |
| length of the slider in segmLength (0 for no sliders) | |
| MotorType | motorType |
| whether to use servos or angular motors | |
| enum MotorType |
| double frictionGround |
friction with ground
| double frictionJoint |
friction within joint
| double jointLimitIn |
maximal angle for the joints to the inside (M_PI/2 = 90 degree)
| double jointLimitOut |
maximal angle for the joints to the outside
| double motorDamp |
damping of motors
| double motorPower |
power of the motors / servos
| double powerRatio |
ratio of motorpower for hinge vs. slider
| double segmDia |
diameter of a snake element
| double segmLength |
length of one snake element
| double segmMass |
mass of one snake element
| int segmNumber |
number of snake elements
| double sensorFactor |
scale for sensors
| double sliderLength |
length of the slider in segmLength (0 for no sliders)
1.4.7