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

int jointIndex

Which joint index is actuated by this actuator.

float maximumTorque

Maximum torque of the actuator (Newton-meters)

float maximumVelocity

Maximum velocity of the actuator (radians per second)

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

Function used to calculate motor output.

Parameters
[in]float1Input velocity.
[in]float2Input torque.
[in]ActuatorPropertiesStatic properties of this actuator
Returns
Torque according to the model.
std::string name

An identifier for the actuator.

float power

Mechanical power output of the actuator (Watts)


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