Actin®  Version 5.2.0
Software for Robotics Simulation and Control
EcJointActuator Class Reference

#include <ecJointActuator.h>

Inheritance diagram for EcJointActuator:
EcXmlCompoundType EcXmlObject

Public Member Functions

 EcJointActuator ()
 default constructor
 
 EcJointActuator (EcReal inertia, EcReal frictionCoefficient, EcReal gearRaio, EcReal lowerLimit, EcReal upperLimit, EcReal maxOutputRate, EcReal stopperZone, EcReal minTorque, EcReal maxTorque, EcReal stopperSpringCoefficient, EcReal stopperDampingCoefficient)
 constructor with values
 
virtual ~EcJointActuator ()
 destructor
 
 EcJointActuator (const EcJointActuator &orig)
 copy constructor
 
EcJointActuatoroperator= (const EcJointActuator &orig)
 assignment operator
 
EcBoolean operator== (const EcJointActuator &orig) const
 equality operator
 
virtual EcBoolean xmlInit () EC_OVERRIDE
 initialize XML components for reading and writing
 
virtual EcBoolean read (EcXmlReader &stream) EC_OVERRIDE
 read this object from an XML stream
 
virtual EcBoolean write (EcXmlWriter &stream) const EC_OVERRIDE
 write this object to an XML stream
 
virtual EcXmlObjectclone () const EC_OVERRIDE
 clone - a virtual constructor to an EcXmlObject pointer
 
virtual void registerComponents () EC_OVERRIDE
 register components with the parent
 
virtual EcBoolean equality (const EcXmlObject *other) const EC_OVERRIDE
 equality - virtual equality to an EcXmlObject pointer
 
virtual const EcTokentoken () const EC_OVERRIDE
 gets the token
 
virtual EcXmlObjectnewObject () const EC_OVERRIDE
 virtual new that returns an EcXmlObject
 
virtual void setManipulatorLink (const EcManipulatorLink *pLink)
 sets the manipulator link
 
virtual const EcMechanicalActuatorComponentContainermechanicalComponentContainer () const
 gets the container for the mechanical component
 
virtual EcMechanicalActuatorComponentContainermechanicalComponentContainer ()
 
virtual void setMechanicalPartContainer (const EcMechanicalActuatorComponentContainer &value)
 sets the container for the mechanical component
 
virtual void setMechanicalComponent (const EcBaseMechanicalActuatorComponent &value)
 sets the mechanical component of the actuator
 
virtual const EcPowerConverterContainerpowerConverterContainer () const
 gets the container for the power converter
 
virtual void setPowerConverterContainer (const EcPowerConverterContainer &value)
 sets the container for the power converter
 
virtual void setPowerConverter (const EcBasePowerConverter &value)
 sets the power converter of the actuator
 
virtual const EcActuationMechanismContaineractuationMechanismContainer () const
 gets the container for the actuation mechanism
 
virtual void setActuationMechanismContainer (const EcActuationMechanismContainer &value)
 sets the container for the actuation mechanism
 
virtual void setActuationMechanism (const EcBaseActuationMechanism &value)
 sets the actuation mechanism for the joint
 
virtual EcReal lowerLimit () const
 gets lower limit
 
virtual void setLowerLimit (EcReal value)
 sets joint lower limit
 
virtual EcReal upperLimit () const
 gets upper limit
 
virtual void setUpperLimit (EcReal value)
 sets joint upper limit
 
virtual EcReal maxOutputRate () const
 gets maximum joint speed
 
virtual void setMaxOutputRate (EcReal value)
 sets maximum joint speed
 
virtual EcReal maxOutputTorque () const
 gets joint actuator max torque
 
virtual EcReal minOutputTorque () const
 gets joint actuator min torque
 
virtual EcReal maxTorque () const
 gets motor max torque
 
virtual void setMaxTorque (EcReal value)
 sets motor max torque
 
virtual EcReal minTorque () const
 gets motor min torque
 
virtual void setMinTorque (EcReal value)
 sets motor min torque
 
virtual EcReal inertia () const
 gets inertia
 
virtual void setInertia (EcReal value)
 sets inertia
 
virtual EcReal frictionCoefficient () const
 gets viscous friction coefficient
 
virtual void setFrictionCoefficient (EcReal value)
 sets viscous friction coefficient
 
virtual EcReal maxEfficiency () const
 gets the maximum efficiency of the mechanical component
 
virtual void setMaxEfficiency (EcReal value)
 sets the maximum efficiency of the mechanical component
 
virtual EcReal gearRatio () const
 returns the gear ratio of this actuator, i.e. the ratio between the motor speed and the output (link) speed.
 
virtual void setGearRatio (EcReal value)
 sets gearRatio
 
virtual EcBoolean isRigid () const
 returns true if this joint actuator is rigid or false otherwise (e.g. flexible or backlash)
 
virtual void setIsRigid (EcBoolean value)
 sets the isRigid flag to deterimine if the joint is assumed rigid or not
 
virtual const EcManufacturerDataprimeMoveManufacturerData () const
 gets the manufacture data of the prime mover (motor)
 
virtual void setPrimeMoveManufacturerData (const EcManufacturerData &value)
 sets the manufacture data of the prime mover (motor)
 
virtual const EcManufacturerDataVectorgearheadManufacturerDataVector () const
 gets the vector of the manufacture data of the gearheads
 
virtual void setGearheadManufacturerDataVector (const EcManufacturerDataVector &value)
 sets the vector of the manufacture data of the gearheads
 
virtual EcReal effectiveInertia (EcReal jointPosition) const
 calculate the effective inertia at the joint
 
virtual void scaleBy (EcReal distanceScaleFactor, EcReal jointParameterScaleFactor)
 
virtual void initializeActuatorStates (EcManipulatorActiveState &activeState) const
 initialize the actuator states of this actuator using (and setting) an active state
 
virtual void setFromOldJointActuator (const EcOldJointActuator &oldActuator)
 set the properties from the old joint actuator format. This is temporarily provided for backward compatibility and can be removed in the future.
 
- Public Member Functions inherited from EcXmlCompoundType
 ECDECLARE_BIGFOUR (EcXmlCompoundType)
 
virtual EcBoolean readAttributes (EcXmlReader &stream)
 read object attributes from an XML stream
 
virtual EcBoolean readElements (EcXmlReader &stream)
 read object elements from an XML stream
 
virtual EcBoolean writeAttributes (EcXmlWriter &stream) const
 write object attributes to an XML stream
 
virtual EcBoolean writeElements (EcXmlWriter &stream) const
 write object elements to an XML stream
 
virtual EcBoolean writeSchema (EcXmlSchema &stream) const EC_OVERRIDE
 write schema
 
virtual EcBoolean writeSchemaAttributes (EcXmlSchema &stream) const
 write schema attributes
 
virtual EcBoolean writeSchemaElements (EcXmlSchema &stream) const
 write schema elements
 
virtual void registerComponent (const EcToken &token, EcXmlObject *obj)
 register a single component More...
 
virtual void registerComponent (EcXmlObject *obj)
 register a single component More...
 
virtual void registerComponentReadOnly (const EcToken &token, EcXmlObject *obj)
 register a single component as read-only More...
 
virtual const EcXmlComponentMapcomponentMap () const
 get a reference to the component map
 
virtual void registerAttributeComponent (const EcToken &AttribToken, EcXmlObject *Obj)
 register a single attribute component More...
 
virtual void registerAttributeComponentReadOnly (const EcToken &AttribToken, EcXmlObject *Obj)
 register a single attribute component read-only More...
 
virtual const EcXmlComponentMapattributeComponentMap ()
 get a reference to the component attribute map
 
virtual const EcXmlSpecialDescriptorMapspecialDescriptorMap ()
 get a reference to the special-descriptor map
 
virtual void registerComponentDescriptor (const EcToken &xmlToken, const EcToken &descriptorToken, const EcString &descriptorString)
 register an XML token-string descriptor More...
 
virtual const EcXmlTokenStringDescriptorMapMaptokenStringDescriptorMap ()
 get a reference to the XML token-string descriptor map
 
virtual EcBoolean hasChildren () const
 return EcTrue if there are children components or EcFalse if an empty element.
 
virtual EcBoolean hasAttributes () const
 return EcTrue if there are attributes in the element.
 
- Public Member Functions inherited from EcXmlObject
 ECDECLARE_BIGFOUR (EcXmlObject)
 
virtual EcBoolean readAttribute (EcXmlReader &stream)
 read this attribute from an XML stream
 
virtual EcBoolean createSchema (const EcString &filename, const EcToken &objectName=EcXml::EcDefaultToken) const
 create schema
 
virtual EcBoolean xmlInitialized () const
 get XML initialized flag. This bit is set on initialization.
 
virtual void setXmlInitialized (EcBoolean val=EcTrue)
 set XML initialized flag. This bit is set on initialization.
 
virtual EcBoolean specified () const
 get specified flag. This bit is set upon reading from an XML file.
 
virtual void setSpecified (EcBoolean val=EcTrue)
 set specified flag. This bit is set upon reading from an XML file.
 
virtual EcBoolean isBasicType () const
 Return true/false for basic type.
 
virtual EcBoolean equalsDefault () const
 tests equality of XML object with default
 

Static Public Member Functions

static const EcTokenclassToken ()
 token for this class
 
static EcXmlObjectcreator ()
 static creator function
 
static EcJointActuator nullObject ()
 get an zero-information joint actuator
 
static EcJointActuator defaultObject ()
 standard actuator object
 

Protected Attributes

EcMechanicalActuatorComponentContainer m_MechanicalComponentContainer
 the container for the mechanical component
 
EcPowerConverterContainer m_PowerConverterContainer
 the container for the power converter
 
EcActuationMechanismContainer m_ActuationMechanismContainer
 the container for actuation mechanism description
 
EcManufacturerData m_PrimeMoverManufacturerData
 the manufacture data of the prime mover (motor)
 
EcManufacturerDataVector m_vGearheadManufacturerData
 a vector of the manufacture data of the gearheads
 
const EcManipulatorLinkm_pLink
 non-XML data
 
- Protected Attributes inherited from EcXmlCompoundType
EcXmlComponentMapm_pComponentMap
 
EcXmlComponentMapm_pAttributeComponentMap
 
EcXmlSpecialDescriptorMapm_pSpecialDescriptorMap
 
EcXmlTokenStringDescriptorMapMapm_pComponentMapTokenStringDescriptor
 
- Protected Attributes inherited from EcXmlObject
EcU8 m_State
 the state of the object - eight boolean flags
 

Additional Inherited Members

- Public Types inherited from EcXmlCompoundType
enum  {
  READONLYCOMPONENT = 0,
  READONLYATTRIBUTE
}
 special-descriptor codes More...
 
- Protected Member Functions inherited from EcXmlCompoundType
virtual EcBoolean readValueFromToken (const EcToken &token, EcXmlReader &stream)
 
virtual EcBoolean readValueFromSpecialToken (const EcToken &token, EcXmlReader &stream)
 read value from unregistered token
 
virtual EcBoolean readAttributeFromToken (const EcToken &token, EcXmlReader &stream)
 
virtual EcXmlComponentMapnewComponentMap () const
 allocate a new componentMap
 
virtual EcXmlSpecialDescriptorMapnewSpecialDescriptorMap ()
 allocate a new specialDescriptorsMap
 
virtual EcXmlTokenStringDescriptorMapMapnewTokenStringDescriptorMap ()
 allocate a new tokenStringDescriptorsMap
 
virtual void createComponentMap () const
 create component map
 
virtual void createAttributeComponentMap ()
 create attribute component map
 
virtual void createSpecialDescriptorMap ()
 create special-descriptors map
 
virtual void createTokenStringDescriptorMap ()
 create token-string descriptor map
 
virtual EcBoolean isReadOnlyComponent (const EcToken token) const
 check to see if the token corresponds to a read-only component
 
virtual EcBoolean isReadOnlyAttribute (const EcToken token) const
 check to see if the token corresponds to a read-only attribute
 
virtual EcXmlObjectlibraryAttribute ()
 
- Static Protected Attributes inherited from EcXmlObject
static const EcU8 m_theXmlInitializedBit
 the bit used to describe xml initialization
 
static const EcU8 m_theSpecifiedBit
 the bit used to describe specification
 

Detailed Description

A class describing joint actuators.

A joint actuator consists of two parts. First is the mechanical component that describes mechanical properties of the actuator such as inertia, friction, speed ratio, etc. The second part is the power converter that describes the underlying conversion of power to mechanical power. Examples of power converters are electric DC motor, hydraulic cylinder, etc.

Both mechanical component and power converter reside in containers so they are changeable parts.

Examples:
ecProgrammaticConstructionMain.cpp.

Definition at line 30 of file ecJointActuator.h.

Member Function Documentation

virtual EcMechanicalActuatorComponentContainer& EcJointActuator::mechanicalComponentContainer ( )
virtual

gets the container for the mechanical component non-const version Warning this is not thread safe

virtual void EcJointActuator::scaleBy ( EcReal  distanceScaleFactor,
EcReal  jointParameterScaleFactor 
)
virtual

scale the actuator properties by a distance scale factor and a joint-parameter scale factor. A rotational joint, for example, would use (2,1) to double the size. A prismatic joint would use (2,2) to double the size.


The documentation for this class was generated from the following file:
Created by Energid Technologies www.energid.com
Copyright © 2016 Energid. All trademarks mentioned in this document are property of their respective owners.