Class ActuatorGauss3p is a joint actuator type which maximum is 3 parameter gaussian (Gauss3p) More...

#include <ActuatorGauss3p.h>

Inheritance diagram for biorbd::actuator::ActuatorGauss3p:

Public Member Functions
	ActuatorGauss3p ()
	Construct Gauss3p actuator.

	ActuatorGauss3p (const biorbd::actuator::ActuatorGauss3p &other)
	Construct Gauss3p actuator from another Gauss3p actuator. More...

	ActuatorGauss3p (int direction, const biorbd::utils::Scalar &Tmax, const biorbd::utils::Scalar &T0, const biorbd::utils::Scalar &wmax, const biorbd::utils::Scalar &wc, const biorbd::utils::Scalar &amin, const biorbd::utils::Scalar &wr, const biorbd::utils::Scalar &w1, const biorbd::utils::Scalar &r, const biorbd::utils::Scalar &qopt, unsigned int dofIdx)
	Construct Gauss3p actuator. More...

	ActuatorGauss3p (int direction, const biorbd::utils::Scalar &Tmax, const biorbd::utils::Scalar &T0, const biorbd::utils::Scalar &wmax, const biorbd::utils::Scalar &wc, const biorbd::utils::Scalar &amin, const biorbd::utils::Scalar &wr, const biorbd::utils::Scalar &w1, const biorbd::utils::Scalar &r, const biorbd::utils::Scalar &qopt, unsigned int dofIdx, const biorbd::utils::String &jointName)
	Construct Gauss3p actuator. More...

virtual	~ActuatorGauss3p ()
	Destroy the class properly.

biorbd::actuator::ActuatorGauss3p	DeepCopy () const
	Deep copy of the Gauss3p actuator. More...

void	DeepCopy (const biorbd::actuator::ActuatorGauss3p &other)
	Deep copy of the Gauss3p actuator from another Gauss3p actuator. More...

virtual biorbd::utils::Scalar	torqueMax ()
	Return the maximal torque (invalid) More...

virtual biorbd::utils::Scalar	torqueMax (const biorbd::rigidbody::GeneralizedCoordinates &Q, const biorbd::rigidbody::GeneralizedVelocity &Qdot)
	Return the maximal torque at a given Q and Qdot. 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 actuator.

Protected Attributes
std::shared_ptr< biorbd::utils::Scalar >	m_k
	Ratio of slope of the eccentric and concentric phases.

std::shared_ptr< biorbd::utils::Scalar >	m_Tmax
	Maximum torque in the eccentric phase.

std::shared_ptr< biorbd::utils::Scalar >	m_T0
	Maximum torque isometric.

std::shared_ptr< biorbd::utils::Scalar >	m_wmax
	Maximum angular velocity above which torque cannot be produced.

std::shared_ptr< biorbd::utils::Scalar >	m_wc
	Angular velocity of the vertical asymptote of the concentric hyperbola.

std::shared_ptr< biorbd::utils::Scalar >	m_amax
	Maximum activation level (set to 1)

std::shared_ptr< biorbd::utils::Scalar >	m_amin
	Low plateau level.

std::shared_ptr< biorbd::utils::Scalar >	m_wr
	1/10 de la distance amax/amin

std::shared_ptr< biorbd::utils::Scalar >	m_w1
	Mid point plateau.

std::shared_ptr< biorbd::utils::Scalar >	m_r
	Width of the gaussian curve.

std::shared_ptr< biorbd::utils::Scalar >	m_qopt
	Optimal position.

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 ActuatorGauss3p is a joint actuator type which maximum is 3 parameter gaussian (Gauss3p)

Definition at line 19 of file ActuatorGauss3p.h.

Constructor & Destructor Documentation

◆ ActuatorGauss3p() [1/3]

biorbd::actuator::ActuatorGauss3p::ActuatorGauss3p ( const biorbd::actuator::ActuatorGauss3p & other )

Construct Gauss3p actuator from another Gauss3p actuator.

Parameters

other The other Gauss3p actuator to copy

Definition at line 25 of file ActuatorGauss3p.cpp.

◆ ActuatorGauss3p() [2/3]

biorbd::actuator::ActuatorGauss3p::ActuatorGauss3p	(	int	direction,
		const biorbd::utils::Scalar &	Tmax,
		const biorbd::utils::Scalar &	T0,
		const biorbd::utils::Scalar &	wmax,
		const biorbd::utils::Scalar &	wc,
		const biorbd::utils::Scalar &	amin,
		const biorbd::utils::Scalar &	wr,
		const biorbd::utils::Scalar &	w1,
		const biorbd::utils::Scalar &	r,
		const biorbd::utils::Scalar &	qopt,
		unsigned int	dofIdx
	)

Construct Gauss3p actuator.

Parameters

direction	The direction of the Gauss3p actuator (+1 or -1)
Tmax	The maximal torque in the eccentric phase
T0	The maximal torque isometric
wmax	Maximum angular velocity above which torque cannot be produced
wc	Angluar velocity of the vertical asymptote of the concentric hyperbola
amin	Low plateau level
wr	1/10 of the distance amax/amin
w1	Mid point plateau
r	width of the gaussian curve
qopt	Optimal position
dofIdx	Index of the DoF associated with actuator

Definition at line 43 of file ActuatorGauss3p.cpp.

◆ ActuatorGauss3p() [3/3]

biorbd::actuator::ActuatorGauss3p::ActuatorGauss3p	(	int	direction,
		const biorbd::utils::Scalar &	Tmax,
		const biorbd::utils::Scalar &	T0,
		const biorbd::utils::Scalar &	wmax,
		const biorbd::utils::Scalar &	wc,
		const biorbd::utils::Scalar &	amin,
		const biorbd::utils::Scalar &	wr,
		const biorbd::utils::Scalar &	w1,
		const biorbd::utils::Scalar &	r,
		const biorbd::utils::Scalar &	qopt,
		unsigned int	dofIdx,
		const biorbd::utils::String &	jointName
	)

Construct Gauss3p actuator.

Parameters

direction	The direction of the Gauss3p actuator
Tmax	The maximal torque in the eccentric phase
T0	The maximal torque isometric
wmax	Maximum angular velocity above which torque cannot be produced
wc	Angluar velocity of the vertical asymptote of the concentric hyperbola
amin	Low plateau level
wr	1/10 of the distance amax/amin
w1	Mid point plateau
r	width of the gaussian curve
qopt	Optimal position
dofIdx	Index of the DoF associated with actuator
jointName	Name of the parent joint

Definition at line 71 of file ActuatorGauss3p.cpp.

Member Function Documentation

◆ DeepCopy() [1/2]

biorbd::actuator::ActuatorGauss3p biorbd::actuator::ActuatorGauss3p::DeepCopy ( ) const

Deep copy of the Gauss3p actuator.

Returns: A deep copy of the Gauss3p actuator

Definition at line 105 of file ActuatorGauss3p.cpp.

◆ DeepCopy() [2/2]

void biorbd::actuator::ActuatorGauss3p::DeepCopy ( const biorbd::actuator::ActuatorGauss3p & other )

Deep copy of the Gauss3p actuator from another Gauss3p actuator.

Parameters

other The Gauss3p actuator to copy

Definition at line 112 of file ActuatorGauss3p.cpp.

◆ torqueMax() [1/2]

biorbd::utils::Scalar biorbd::actuator::ActuatorGauss3p::torqueMax ( )

virtual

Return the maximal torque (invalid)

Returns: The maximal torque torqueMax for ActuatorGauss3p must be called with Q and Qdot

Implements biorbd::actuator::Actuator.

Definition at line 129 of file ActuatorGauss3p.cpp.

◆ torqueMax() [2/2]

biorbd::utils::Scalar biorbd::actuator::ActuatorGauss3p::torqueMax	(	const biorbd::rigidbody::GeneralizedCoordinates &	Q,
		const biorbd::rigidbody::GeneralizedVelocity &	Qdot
	)

virtual

Return the maximal torque at a given Q and Qdot.

Parameters

Q	The generalized coordinates of the actuator
Qdot	The generalized velocities of the actuator

Returns: The maximal torque

Definition at line 135 of file ActuatorGauss3p.cpp.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ActuatorGauss3p() [1/3]

◆ ActuatorGauss3p() [2/3]

◆ ActuatorGauss3p() [3/3]

Member Function Documentation

◆ DeepCopy() [1/2]

◆ DeepCopy() [2/2]

◆ torqueMax() [1/2]

◆ torqueMax() [2/2]