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Actin®
Version 5.3.0
Software for Robotics Simulation and Control
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Actin®
Version 5.3.0
Software for Robotics Simulation and Control
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#include <ecJointActuator.h>
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 | |
| EcJointActuator & | operator= (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 EcXmlObject * | clone () 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 EcToken & | token () const EC_OVERRIDE |
| gets the token | |
| virtual EcXmlObject * | newObject () const EC_OVERRIDE |
| virtual new that returns an EcXmlObject | |
| virtual void | setManipulatorLink (const EcManipulatorLink *pLink) |
| sets the manipulator link | |
| virtual const EcMechanicalActuatorComponentContainer & | mechanicalComponentContainer () const |
| gets the container for the mechanical component | |
| virtual EcMechanicalActuatorComponentContainer & | mechanicalComponentContainer () |
| 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 EcPowerConverterContainer & | powerConverterContainer () 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 EcActuationMechanismContainer & | actuationMechanismContainer () 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 EcManufacturerData & | primeMoveManufacturerData () 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 EcManufacturerDataVector & | gearheadManufacturerDataVector () 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 EcXmlComponentMap & | componentMap () 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 EcXmlComponentMap & | attributeComponentMap () |
| get a reference to the component attribute map | |
| virtual const EcXmlSpecialDescriptorMap & | specialDescriptorMap () |
| 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 EcXmlTokenStringDescriptorMapMap & | tokenStringDescriptorMap () |
| 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 EcToken & | classToken () |
| token for this class | |
| static EcXmlObject * | creator () |
| 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 EcManipulatorLink * | m_pLink |
| non-XML data | |
| Protected Attributes inherited from EcXmlCompoundType | |
| EcXmlComponentMap * | m_pComponentMap |
| EcXmlComponentMap * | m_pAttributeComponentMap |
| EcXmlSpecialDescriptorMap * | m_pSpecialDescriptorMap |
| EcXmlTokenStringDescriptorMapMap * | m_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 EcXmlComponentMap * | newComponentMap () const |
| allocate a new componentMap | |
| virtual EcXmlSpecialDescriptorMap * | newSpecialDescriptorMap () |
| allocate a new specialDescriptorsMap | |
| virtual EcXmlTokenStringDescriptorMapMap * | newTokenStringDescriptorMap () |
| 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 EcXmlObject * | libraryAttribute () |
| 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 | |
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.
Definition at line 30 of file ecJointActuator.h.
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gets the container for the mechanical component non-const version Warning this is not thread safe
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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.
