biorbd::actuator::ActuatorLinear Class Reference

Class ActuatorLinear is a joint actuator type that linearly evolves. More...

#include <ActuatorLinear.h>

Inheritance diagram for biorbd::actuator::ActuatorLinear:

Public Member Functions
	ActuatorLinear ()
	Construct a linear actuator.
	ActuatorLinear (const biorbd::actuator::ActuatorLinear &other)
	Construct a linear actuator from another linear actuator. More...
	ActuatorLinear (int direction, const biorbd::utils::Scalar &T0, const biorbd::utils::Scalar &slope, unsigned int dofIdx)
	Construct a linear actuator. More...
	ActuatorLinear (int direction, const biorbd::utils::Scalar &T0, const biorbd::utils::Scalar &slope, unsigned int dofIdx, const biorbd::utils::String &jointName)
	Construct a linear actuator. More...
virtual	~ActuatorLinear ()
	Destroy the class properly.
biorbd::actuator::ActuatorLinear	DeepCopy () const
	Deep copy of the linear actuator. More...
void	DeepCopy (const biorbd::actuator::ActuatorLinear &other)
	Deep copy of the linear actuator from another linear actuator. More...
virtual biorbd::utils::Scalar	torqueMax ()
	Return the maximal torque (invalid) More...
virtual biorbd::utils::Scalar	torqueMax (const biorbd::rigidbody::GeneralizedCoordinates &Q) const
	Return the maximal torque at a given Q. 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_m
	Slope.
std::shared_ptr< biorbd::utils::Scalar >	m_b
	Torque at zero.
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 ActuatorLinear is a joint actuator type that linearly evolves.

Definition at line 17 of file ActuatorLinear.h.

Constructor & Destructor Documentation

ActuatorLinear() [1/3]

biorbd::actuator::ActuatorLinear::ActuatorLinear

(

const biorbd::actuator::ActuatorLinear &

other

)

Construct a linear actuator from another linear actuator.

Parameters

other

The other linear actuator

Definition at line 15 of file ActuatorLinear.cpp.

ActuatorLinear() [2/3]

biorbd::actuator::ActuatorLinear::ActuatorLinear	(	int	direction,
		const biorbd::utils::Scalar &	T0,
		const biorbd::utils::Scalar &	slope,
		unsigned int	dofIdx
	)

Construct a linear actuator.

Parameters

direction	The direction of the actuator (+1 or -1)
T0	The maximal torque isometric
slope	The slope
dofIdx	Index of the DoF associated with actuator

Definition at line 24 of file ActuatorLinear.cpp.

ActuatorLinear() [3/3]

biorbd::actuator::ActuatorLinear::ActuatorLinear	(	int	direction,
		const biorbd::utils::Scalar &	T0,
		const biorbd::utils::Scalar &	slope,
		unsigned int	dofIdx,
		const biorbd::utils::String &	jointName
	)

Construct a linear actuator.

Parameters

direction	The direction of the actuator (+1 or -1)
T0	The maximal torque isometric
slope	The slope
dofIdx	Index of the DoF associated with actuator
jointName	The name of the parent joint

Definition at line 36 of file ActuatorLinear.cpp.

Member Function Documentation

DeepCopy() [1/2]

biorbd::actuator::ActuatorLinear biorbd::actuator::ActuatorLinear::DeepCopy

(

)

const

Deep copy of the linear actuator.

Returns

A deep copy of the linear actuator

Definition at line 54 of file ActuatorLinear.cpp.

DeepCopy() [2/2]

void biorbd::actuator::ActuatorLinear::DeepCopy

(

const biorbd::actuator::ActuatorLinear &

other

)

Deep copy of the linear actuator from another linear actuator.

Parameters

other

The linear actuator to copy

Definition at line 61 of file ActuatorLinear.cpp.

torqueMax() [1/2]

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

virtual

Return the maximal torque (invalid)

Returns

The maximal torque torqueMax for ActuatorLinear must be called with Q

Implements biorbd::actuator::Actuator.

Definition at line 68 of file ActuatorLinear.cpp.

torqueMax() [2/2]

biorbd::utils::Scalar biorbd::actuator::ActuatorLinear::torqueMax ( const biorbd::rigidbody::GeneralizedCoordinates &  Q ) const

virtual

Return the maximal torque at a given Q.

Parameters

Q	The generalized coordinates of the actuator

Returns

The maximal torque

Definition at line 74 of file ActuatorLinear.cpp.

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

• ActuatorLinear.h
• ActuatorLinear.cpp