ActuatorProperties Class Reference

Properties for a model of a rotational actuator. More...

#include <ActuatorPlugin.hh>

Public Attributes
int	jointIndex
	Which joint index is actuated by this actuator. More...
float	maximumTorque
	Maximum torque of the actuator (Newton-meters) More...
float	maximumVelocity
	Maximum velocity of the actuator (radians per second) More...
std::function< float(float, float, const ActuatorProperties &)>	modelFunction
	Function used to calculate motor output. More...
std::string	name
	An identifier for the actuator. More...
float	power
	Mechanical power output of the actuator (Watts) More...

Detailed Description

Properties for a model of a rotational actuator.

Member Data Documentation

jointIndex

int jointIndex

Which joint index is actuated by this actuator.

maximumTorque

float maximumTorque

Maximum torque of the actuator (Newton-meters)

maximumVelocity

float maximumVelocity

Maximum velocity of the actuator (radians per second)

modelFunction

std::function<float (float, float, const ActuatorProperties&)> modelFunction

Function used to calculate motor output.

Parameters

[in]	float1	Input velocity.
[in]	float2	Input torque.
[in]	ActuatorProperties	Static properties of this actuator

Returns

Torque according to the model.

name

std::string name

An identifier for the actuator.

power

float power

Mechanical power output of the actuator (Watts)

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

• ActuatorPlugin.hh