Class ActuatorGauss6p is a joint actuator type which maximum is bimodal 6 parameter gaussian (Gauss6p) More...

#include <ActuatorGauss6p.h>

Inheritance diagram for biorbd::actuator::ActuatorGauss6p:

Public Member Functions
	ActuatorGauss6p ()
	Construct Gauss6p actuator.

	ActuatorGauss6p (const biorbd::actuator::ActuatorGauss6p &other)
	Construct Gauss6p actuator from another Gauss6p actuator. More...

	ActuatorGauss6p (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, const biorbd::utils::Scalar &facteur, const biorbd::utils::Scalar &r2, const biorbd::utils::Scalar &qopt2, unsigned int dofIdx)
	Construct Gauss6p actuator. More...

	ActuatorGauss6p (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, const biorbd::utils::Scalar &facteur, const biorbd::utils::Scalar &r2, const biorbd::utils::Scalar &qopt2, unsigned int dofIdx, const biorbd::utils::String &jointName)
	Construct Gauss6p actuator. More...

virtual	~ActuatorGauss6p ()
	Destroy the class properly.

biorbd::actuator::ActuatorGauss6p	DeepCopy () const
	Deep copy of the Gauss6p actuator. More...

void	DeepCopy (const biorbd::actuator::ActuatorGauss6p &other)
	Deep copy of the Gauss 3p actuator from another Gauss6p 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 of the 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 1st gaussian curve

std::shared_ptr< biorbd::utils::Scalar >	m_qopt
	1st Optimal position

std::shared_ptr< biorbd::utils::Scalar >	m_facteur
	Factor of the 6p.

std::shared_ptr< biorbd::utils::Scalar >	m_r2
	width of the 2nd gaussian curve

std::shared_ptr< biorbd::utils::Scalar >	m_qopt2
	2nd 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 ActuatorGauss6p is a joint actuator type which maximum is bimodal 6 parameter gaussian (Gauss6p)

Definition at line 17 of file ActuatorGauss6p.h.

Constructor & Destructor Documentation

◆ ActuatorGauss6p() [1/3]

biorbd::actuator::ActuatorGauss6p::ActuatorGauss6p ( const biorbd::actuator::ActuatorGauss6p & other )

Construct Gauss6p actuator from another Gauss6p actuator.

Parameters

other The other Gauss6p actuator to copy

Definition at line 28 of file ActuatorGauss6p.cpp.

◆ ActuatorGauss6p() [2/3]

biorbd::actuator::ActuatorGauss6p::ActuatorGauss6p	(	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,
		const biorbd::utils::Scalar &	facteur,
		const biorbd::utils::Scalar &	r2,
		const biorbd::utils::Scalar &	qopt2,
		unsigned int	dofIdx
	)

Construct Gauss6p actuator.

Parameters

direction	The direction of the Gauss6p actuator (+1 or -1)
Tmax	The maximal torque in the eccentric phase
T0	The maxaiml 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 1st gaussian curve
qopt	1st Optimal position
facteur	Factor of the 6p
r2	Width of the 2nd gaussian curve2
qopt2	2nd Optimal position
dofIdx	Index of the DoF associated with actuator

Definition at line 48 of file ActuatorGauss6p.cpp.

◆ ActuatorGauss6p() [3/3]

biorbd::actuator::ActuatorGauss6p::ActuatorGauss6p	(	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,
		const biorbd::utils::Scalar &	facteur,
		const biorbd::utils::Scalar &	r2,
		const biorbd::utils::Scalar &	qopt2,
		unsigned int	dofIdx,
		const biorbd::utils::String &	jointName
	)

Construct Gauss6p actuator.

Parameters

direction	The direction of the Gauss6p actuator (+1 or -1)
Tmax	The maximal torque in the eccentric phase
T0	The maxaiml 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 1st gaussian curve
qopt	1st Optimal position
facteur	Factor of the 6p
r2	Width of the 2nd gaussian curve
qopt2	2nd Optimal position 2
dofIdx	Index of the DoF associated with actuator
jointName	The name of the parent joint

Definition at line 82 of file ActuatorGauss6p.cpp.

Member Function Documentation

◆ DeepCopy() [1/2]

biorbd::actuator::ActuatorGauss6p biorbd::actuator::ActuatorGauss6p::DeepCopy ( ) const

Deep copy of the Gauss6p actuator.

Returns: A deep copy of the Gauss6p actuator

Definition at line 122 of file ActuatorGauss6p.cpp.

◆ DeepCopy() [2/2]

void biorbd::actuator::ActuatorGauss6p::DeepCopy ( const biorbd::actuator::ActuatorGauss6p & other )

Deep copy of the Gauss 3p actuator from another Gauss6p actuator.

Parameters

other The Gauss6p actuator to copy

Definition at line 129 of file ActuatorGauss6p.cpp.

◆ torqueMax() [1/2]

biorbd::utils::Scalar biorbd::actuator::ActuatorGauss6p::torqueMax ( )

virtual

Return the maximal torque (invalid)

Returns: The maximal torque torqueMax for ActuatorGauss6p must be called with Q and Qdot

Implements biorbd::actuator::Actuator.

Definition at line 149 of file ActuatorGauss6p.cpp.

◆ torqueMax() [2/2]

biorbd::utils::Scalar biorbd::actuator::ActuatorGauss6p::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 154 of file ActuatorGauss6p.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

◆ ActuatorGauss6p() [1/3]

◆ ActuatorGauss6p() [2/3]

◆ ActuatorGauss6p() [3/3]

Member Function Documentation

◆ DeepCopy() [1/2]

◆ DeepCopy() [2/2]

◆ torqueMax() [1/2]

◆ torqueMax() [2/2]