#include <Actuator.h>
Public Member Functions | |
| Actuator () | |
| Construct actuator. | |
| Actuator (const biorbd::actuator::Actuator &other) | |
| Construct actuator from another actuator. More... | |
| Actuator (int direction, unsigned int dofIdx) | |
| Construct actuator. More... | |
| Actuator (int direction, unsigned int dofIdx, const biorbd::utils::String &jointName) | |
| Construct actuator. More... | |
| virtual | ~Actuator () |
| Destroy class properly. | |
| void | DeepCopy (const biorbd::actuator::Actuator &other) |
| Deep copy of actuator. More... | |
| unsigned int | index () const |
| Return the index of the DoF associated with actuator. More... | |
| int | direction () const |
| Return the direction of the actuator. More... | |
| biorbd::actuator::TYPE | type () const |
| Return the type of the actuator. More... | |
| virtual biorbd::utils::Scalar | torqueMax ()=0 |
| Return the maximal torque. More... | |
Protected Member Functions | |
| virtual void | setType ()=0 |
| Set the type of actuator. | |
Protected Attributes | |
| std::shared_ptr< biorbd::actuator::TYPE > | m_type |
| The type of the actuator. | |
| std::shared_ptr< int > | m_direction |
| The direction of the actuator (+1 or -1) | |
| std::shared_ptr< biorbd::utils::String > | m_jointName |
| Name of the parent joint. | |
| std::shared_ptr< unsigned int > | m_dofIdx |
| Index of the DoF associated with the actuator. | |
Detailed Description
Class Actuator.
Definition at line 19 of file Actuator.h.
Constructor & Destructor Documentation
◆ Actuator() [1/3]
| biorbd::actuator::Actuator::Actuator | ( | const biorbd::actuator::Actuator & | other | ) |
Construct actuator from another actuator.
- Parameters
-
other The other actuator
Definition at line 16 of file Actuator.cpp.
◆ Actuator() [2/3]
| biorbd::actuator::Actuator::Actuator | ( | int | direction, |
| unsigned int | dofIdx | ||
| ) |
Construct actuator.
- Parameters
-
direction Direction of the actuator (+1 or -1) dofIdx Index of the DoF associated with actuator
Definition at line 26 of file Actuator.cpp.
◆ Actuator() [3/3]
| biorbd::actuator::Actuator::Actuator | ( | int | direction, |
| unsigned int | dofIdx, | ||
| const biorbd::utils::String & | jointName | ||
| ) |
Construct actuator.
- Parameters
-
direction Direction of the actuator (+1 or -1) dofIdx Index of the DoF associated with actuator jointName The name of the parent joint
Definition at line 37 of file Actuator.cpp.
Member Function Documentation
◆ DeepCopy()
| void biorbd::actuator::Actuator::DeepCopy | ( | const biorbd::actuator::Actuator & | other | ) |
Deep copy of actuator.
- Parameters
-
other The actuator to copy
Definition at line 55 of file Actuator.cpp.
◆ direction()
| int biorbd::actuator::Actuator::direction | ( | ) | const |
Return the direction of the actuator.
- Returns
- The direction of the actuator (+1 or -1)
Definition at line 68 of file Actuator.cpp.
◆ index()
| unsigned int biorbd::actuator::Actuator::index | ( | ) | const |
Return the index of the DoF associated with actuator.
- Returns
- The index of the DoF associated with actuator
Definition at line 63 of file Actuator.cpp.
◆ torqueMax()
|
pure virtual |
Return the maximal torque.
- Returns
- The maximal torque
Implemented in biorbd::actuator::ActuatorGauss6p, biorbd::actuator::ActuatorGauss3p, biorbd::actuator::ActuatorLinear, and biorbd::actuator::ActuatorConstant.
◆ type()
| biorbd::actuator::TYPE biorbd::actuator::Actuator::type | ( | ) | const |
Return the type of the actuator.
- Returns
- The type of the actuator
Definition at line 73 of file Actuator.cpp.
The documentation for this class was generated from the following files:
