Class holder for a set of actuators. More...

#include <Actuators.h>

Public Member Functions
	Actuators ()
	Construct actuators.

	Actuators (const biorbd::actuator::Actuators &other)
	Construct actuators from another set of actuators. More...

virtual	~Actuators ()
	Destroy actuators class properly.

void	DeepCopy (const biorbd::actuator::Actuators &other)
	Deep copy of the actuator holder from other actuator holder. More...

void	addActuator (const biorbd::actuator::Actuator &a)
	Add an actuator to the set of actuators. More...

void	closeActuator ()
	Indicate to biorbd to are done adding actuators, sanity checks are performed. More...

std::pair< biorbd::rigidbody::GeneralizedTorque, biorbd::rigidbody::GeneralizedTorque >	torqueMax (const biorbd::rigidbody::GeneralizedCoordinates &Q, const biorbd::rigidbody::GeneralizedVelocity &Qdot)
	Return two vectors of max torque (it is impossible to know if eccentric or concentric is required, therefore both are returned) More...

biorbd::rigidbody::GeneralizedTorque	torqueMax (const biorbd::utils::Vector &activation, const biorbd::rigidbody::GeneralizedCoordinates &Q, const biorbd::rigidbody::GeneralizedVelocity &Qdot)
	Return the maximal generalized torque. More...

biorbd::rigidbody::GeneralizedTorque	torque (const biorbd::utils::Vector &activation, const biorbd::rigidbody::GeneralizedCoordinates &Q, const biorbd::rigidbody::GeneralizedVelocity &Qdot)
	Return the generalized torque. More...

const std::pair< std::shared_ptr< biorbd::actuator::Actuator >, std::shared_ptr< biorbd::actuator::Actuator > > &	actuator (unsigned int dof)
	Return a specific concentric/eccentric actuator. More...

const biorbd::actuator::Actuator &	actuator (unsigned int dof, bool concentric)
	Return a specific actuator. More...

unsigned int	nbActuators () const
	Return the toal number of actuators. More...

Protected Member Functions
biorbd::utils::Scalar	getTorqueMaxDirection (const std::shared_ptr< Actuator > actuator, const rigidbody::GeneralizedCoordinates &Q, const rigidbody::GeneralizedVelocity &Qdot) const
	getTorqueMaxDirection Get the max torque of a specific actuator (interface necessary because of CasADi) More...

Protected Attributes
std::shared_ptr< std::vector< std::pair< std::shared_ptr< biorbd::actuator::Actuator >, std::shared_ptr< biorbd::actuator::Actuator > > > >	m_all
	All the actuators reunited /pair (+ or -)

std::shared_ptr< std::vector< bool > >	m_isDofSet
	If DoF all dof are set.

std::shared_ptr< bool >	m_isClose
	If the set is ready.

Detailed Description

Class holder for a set of actuators.

Definition at line 25 of file Actuators.h.

Constructor & Destructor Documentation

◆ Actuators()

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

Construct actuators from another set of actuators.

Parameters

other The other actuators

Definition at line 24 of file Actuators.cpp.

Member Function Documentation

◆ actuator() [1/2]

const std::pair< std::shared_ptr< biorbd::actuator::Actuator >, std::shared_ptr< biorbd::actuator::Actuator > > & biorbd::actuator::Actuators::actuator ( unsigned int dof )

Return a specific concentric/eccentric actuator.

Parameters

dof	Index of the DoF associated with actuator

Returns: The actuator

Definition at line 175 of file Actuators.cpp.

◆ actuator() [2/2]

const biorbd::actuator::Actuator & biorbd::actuator::Actuators::actuator	(	unsigned int	dof,
		bool	concentric
	)

Return a specific actuator.

Parameters

dof	Index of the DoF associated with actuator
concentric	If the return value is the concentric (true) or eccentric (false) value

Returns: The actuator

Definition at line 180 of file Actuators.cpp.

◆ addActuator()

void biorbd::actuator::Actuators::addActuator ( const biorbd::actuator::Actuator & a )

Add an actuator to the set of actuators.

Parameters

a	The actuator to add

Definition at line 82 of file Actuators.cpp.

◆ closeActuator()

void biorbd::actuator::Actuators::closeActuator ( )

Indicate to biorbd to are done adding actuators, sanity checks are performed.

Definition at line 156 of file Actuators.cpp.

◆ DeepCopy()

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

Deep copy of the actuator holder from other actuator holder.

Parameters

other The other actuators

Definition at line 39 of file Actuators.cpp.

◆ getTorqueMaxDirection()

biorbd::utils::Scalar biorbd::actuator::Actuators::getTorqueMaxDirection	(	const std::shared_ptr< Actuator >	actuator,
		const rigidbody::GeneralizedCoordinates &	Q,
		const rigidbody::GeneralizedVelocity &	Qdot
	)		const

protected

getTorqueMaxDirection Get the max torque of a specific actuator (interface necessary because of CasADi)

Parameters

actuator	The actuator to gather from
Q	The Generalized coordinates
Qdot	The Generalized velocity

Returns: The torque max

Definition at line 303 of file Actuators.cpp.

◆ nbActuators()

unsigned int biorbd::actuator::Actuators::nbActuators ( ) const

Return the toal number of actuators.

Returns: The total number of actuators

Definition at line 193 of file Actuators.cpp.

◆ torque()

biorbd::rigidbody::GeneralizedTorque biorbd::actuator::Actuators::torque	(	const biorbd::utils::Vector &	activation,
		const biorbd::rigidbody::GeneralizedCoordinates &	Q,
		const biorbd::rigidbody::GeneralizedVelocity &	Qdot
	)

Return the generalized torque.

Parameters

activation	The level of activation of the torque. A positive value is interpreted as concentric contraction and negative as eccentric contraction
Q	The generalized coordinates of the actuators
Qdot	The generalized velocities of the actuators

Returns: The maximal generalized torque

Definition at line 198 of file Actuators.cpp.

◆ torqueMax() [1/2]

std::pair< biorbd::rigidbody::GeneralizedTorque, biorbd::rigidbody::GeneralizedTorque > biorbd::actuator::Actuators::torqueMax	(	const biorbd::rigidbody::GeneralizedCoordinates &	Q,
		const biorbd::rigidbody::GeneralizedVelocity &	Qdot
	)

Return two vectors of max torque (it is impossible to know if eccentric or concentric is required, therefore both are returned)

Parameters

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

Returns: Two vectors of maximal torque

Definition at line 230 of file Actuators.cpp.

◆ torqueMax() [2/2]

biorbd::rigidbody::GeneralizedTorque biorbd::actuator::Actuators::torqueMax	(	const biorbd::utils::Vector &	activation,
		const biorbd::rigidbody::GeneralizedCoordinates &	Q,
		const biorbd::rigidbody::GeneralizedVelocity &	Qdot
	)

Return the maximal generalized torque.

Parameters

activation	The level of activation of the torque. A positive value is interpreted as concentric contraction and negative as eccentric contraction
Q	The generalized coordinates of the actuators
Qdot	The generalized velocities of the actuators

Returns: The maximal generalized torque

Definition at line 274 of file Actuators.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

◆ Actuators()

Member Function Documentation

◆ actuator() [1/2]

◆ actuator() [2/2]

◆ addActuator()

◆ closeActuator()

◆ DeepCopy()

◆ getTorqueMaxDirection()

◆ nbActuators()

◆ torque()

◆ torqueMax() [1/2]

◆ torqueMax() [2/2]