biorbd::actuator::ActuatorConstant Class Reference

Class ActuatorConstant is a joint actuator type which maximum is contant. More...

#include <ActuatorConstant.h>

Inheritance diagram for biorbd::actuator::ActuatorConstant:

Public Member Functions
	ActuatorConstant ()
	Construct a constant actuator.
	ActuatorConstant (const biorbd::actuator::ActuatorConstant &other)
	Construct a constant actuator from another actuator. More...
	ActuatorConstant (int direction, const biorbd::utils::Scalar &Tmax, unsigned int dofIdx)
	Construct a constant actuator. More...
	ActuatorConstant (int direction, const biorbd::utils::Scalar &Tmax, unsigned int dofIdx, const biorbd::utils::String &jointName)
	Construct a constant actuator. More...
biorbd::actuator::ActuatorConstant	DeepCopy () const
	Deep copy of the constant actuator. More...
void	DeepCopy (const biorbd::actuator::ActuatorConstant &other)
	Deep copy of the constant actuator to another constant actuator. More...
virtual biorbd::utils::Scalar	torqueMax ()
	Return the maximal torque. More...
Public Member Functions inherited from biorbd::actuator::Actuator
	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...

Protected Member Functions
virtual void	setType ()
	Set the type of the constant actuator.

Protected Attributes
std::shared_ptr< biorbd::utils::Scalar >	m_Tmax
	Maximal torque that can be done.
Protected Attributes inherited from biorbd::actuator::Actuator
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 ActuatorConstant is a joint actuator type which maximum is contant.

Definition at line 13 of file ActuatorConstant.h.

Constructor & Destructor Documentation

ActuatorConstant() [1/3]

biorbd::actuator::ActuatorConstant::ActuatorConstant

(

const biorbd::actuator::ActuatorConstant &

other

)

Construct a constant actuator from another actuator.

Parameters

other

The other constant actuator

Definition at line 14 of file ActuatorConstant.cpp.

ActuatorConstant() [2/3]

biorbd::actuator::ActuatorConstant::ActuatorConstant	(	int	direction,
		const biorbd::utils::Scalar &	Tmax,
		unsigned int	dofIdx
	)

Construct a constant actuator.

Parameters

direction	The direction of the actuator (+1 or -1)
Tmax	The maximum torque that can be done
dofIdx	Index of the DoF associated with actuator

Definition at line 22 of file ActuatorConstant.cpp.

ActuatorConstant() [3/3]

biorbd::actuator::ActuatorConstant::ActuatorConstant	(	int	direction,
		const biorbd::utils::Scalar &	Tmax,
		unsigned int	dofIdx,
		const biorbd::utils::String &	jointName
	)

Construct a constant actuator.

Parameters

direction	The direction of the actuator (+1 or -1)
Tmax	The maximum torque that can be done
dofIdx	Index of the DoF associated with actuator
jointName	The name of the parent joint

Definition at line 32 of file ActuatorConstant.cpp.

Member Function Documentation

DeepCopy() [1/2]

biorbd::actuator::ActuatorConstant biorbd::actuator::ActuatorConstant::DeepCopy

(

)

const

Deep copy of the constant actuator.

Returns

A copy of the constant actuator

Definition at line 43 of file ActuatorConstant.cpp.

DeepCopy() [2/2]

void biorbd::actuator::ActuatorConstant::DeepCopy

(

const biorbd::actuator::ActuatorConstant &

other

)

Deep copy of the constant actuator to another constant actuator.

Parameters

other

The constant actuator to copy

Definition at line 50 of file ActuatorConstant.cpp.

torqueMax()

biorbd::utils::Scalar biorbd::actuator::ActuatorConstant::torqueMax ( )

virtual

Return the maximal torque.

Returns

The maximal torque

Implements biorbd::actuator::Actuator.

Definition at line 56 of file ActuatorConstant.cpp.

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

• ActuatorConstant.h
• ActuatorConstant.cpp