Stg::ModelActuator Class Reference

ModelActuator class More...

#include <stage.hh>

Inheritance diagram for Stg::ModelActuator:

[legend]

List of all members.

Public Types
enum	ActuatorType { TYPE_LINEAR, TYPE_ROTATIONAL }
enum	ControlMode { CONTROL_VELOCITY, CONTROL_POSITION }
Public Member Functions
double	GetMaxPosition () const
double	GetMinPosition () const
double	GetPosition () const
double	GetSpeed () const
void	GoTo (double pose)
virtual void	Load ()
	ModelActuator (World *world, Model *parent, const std::string &type)
void	SetSpeed (double speed)
virtual void	Shutdown ()
virtual void	Startup ()
virtual void	Update ()
	~ModelActuator ()
Private Attributes
ActuatorType	actuator_type
stg_point3_t	axis
ControlMode	control_mode
double	goal
Pose	InitialPose
double	max_position
double	max_speed
double	min_position
double	pos

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Detailed Description

ModelActuator class

Definition at line 2906 of file stage.hh.

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Member Enumeration Documentation

enum Stg::ModelActuator::ActuatorType

Define an actuator type

Enumerator:

TYPE_LINEAR
TYPE_ROTATIONAL

Definition at line 2916 of file stage.hh.

enum Stg::ModelActuator::ControlMode

Define a actuator control method

Enumerator:

CONTROL_VELOCITY
CONTROL_POSITION

Definition at line 2910 of file stage.hh.

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Constructor & Destructor Documentation

Stg::ModelActuator::ModelActuator	(	World *	world,
		Model *	parent,
		const std::string &	type
	)

Stg::ModelActuator::~ModelActuator

(

)

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Member Function Documentation

double Stg::ModelActuator::GetMaxPosition

(

)

const [inline]

Definition at line 2956 of file stage.hh.

double Stg::ModelActuator::GetMinPosition

(

)

const [inline]

Definition at line 2957 of file stage.hh.

double Stg::ModelActuator::GetPosition

(

)

const [inline]

Definition at line 2955 of file stage.hh.

double Stg::ModelActuator::GetSpeed

(

)

const [inline]

Definition at line 2949 of file stage.hh.

void Stg::ModelActuator::GoTo

(

double

pose

)

Sets the control mode to CONTROL_POSITION and sets the goal pose

virtual void Stg::ModelActuator::Load

(

)

[virtual]

configure a model by reading from the current world file

Reimplemented from Stg::Model.

void Stg::ModelActuator::SetSpeed

(

double

speed

)

Sets the control_mode to CONTROL_VELOCITY and sets the goal velocity.

virtual void Stg::ModelActuator::Shutdown

(

)

[virtual]

Reimplemented from Stg::Model.

virtual void Stg::ModelActuator::Startup

(

)

[virtual]

Reimplemented from Stg::Model.

virtual void Stg::ModelActuator::Update

(

)

[virtual]

Reimplemented from Stg::Model.

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Member Data Documentation

ActuatorType Stg::ModelActuator::actuator_type [private]

Definition at line 2928 of file stage.hh.

stg_point3_t Stg::ModelActuator::axis [private]

Definition at line 2929 of file stage.hh.

ControlMode Stg::ModelActuator::control_mode [private]

Definition at line 2927 of file stage.hh.

double Stg::ModelActuator::goal [private]

Definition at line 2922 of file stage.hh.

Pose Stg::ModelActuator::InitialPose [private]

Definition at line 2931 of file stage.hh.

double Stg::ModelActuator::max_position [private]

Definition at line 2926 of file stage.hh.

double Stg::ModelActuator::max_speed [private]

Definition at line 2924 of file stage.hh.

double Stg::ModelActuator::min_position [private]

Definition at line 2925 of file stage.hh.

double Stg::ModelActuator::pos [private]

Definition at line 2923 of file stage.hh.

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

• stage.hh