Klamp't  0.8.1
Public Types | Public Member Functions | Public Attributes | List of all members
RobotJointDriver Struct Reference

Determines the effects of an actuator on the robot configuration. More...

#include <Robot.h>

Public Types

enum  Type {
  Normal, Affine, Translation, Rotation,
  Custom
}
 

Public Member Functions

int NumControls () const
 
int NumLinks () const
 
bool Affects (int link) const
 

Public Attributes

Type type
 
vector< int > linkIndices
 
Real qmin
 
Real qmax
 
Real vmin
 
Real vmax
 
Real amin
 
Real amax
 
Real tmin
 
Real tmax
 
vector< Real > affScaling
 
vector< Real > affOffset
 
Real servoP
 
Real servoI
 
Real servoD
 
Real dryFriction
 
Real viscousFriction
 

Detailed Description

Determines the effects of an actuator on the robot configuration.

Member Enumeration Documentation

Types

  • Normal: normal
  • Affine: scaling/offset of a single control to multiple outputs linkIndices stores the mapping
  • Translation: controls are a direct force applied to the body. (not implemented yet) linkIndices[0] is the "driver" link, linkIndices[1] is the affected link
  • Rotation: controls are a direct moment applied to the body. (not implemented yet) linkIndices[0] is the "driver" link, linkIndices[1] is the affected link
  • Custom: in the future will hold more sophisticated mappings

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