Stg::ModelActuator Class Reference

ModelActuator class More...

#include <stage.hh>

Inheritance diagram for Stg::ModelActuator:

List of all members.

Public Types
enum	ActuatorType { TYPE_LINEAR, TYPE_ROTATIONAL }
enum	ControlMode { CONTROL_VELOCITY, CONTROL_POSITION }
Public Member Functions
point3_t	GetAxis () const
double	GetMaxPosition () const
double	GetMinPosition () const
double	GetPosition () const
double	GetSpeed () const
ActuatorType	GetType () 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
point3_t	axis
ControlMode	control_mode
double	cosa
double	goal
Pose	InitialPose
double	max_position
double	max_speed
double	min_position
double	pos
double	sina
double	start_position

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Detailed Description

ModelActuator class

Definition at line 3053 of file stage.hh.

---

Member Enumeration Documentation

enum Stg::ModelActuator::ActuatorType

Define an actuator type

Enumerator:

TYPE_LINEAR
TYPE_ROTATIONAL

Definition at line 3063 of file stage.hh.

enum Stg::ModelActuator::ControlMode

Define a actuator control method

Enumerator:

CONTROL_VELOCITY
CONTROL_POSITION

Definition at line 3057 of file stage.hh.

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Constructor & Destructor Documentation

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

Definition at line 62 of file model_actuator.cc.

ModelActuator::~ModelActuator

(

void

)

Definition at line 87 of file model_actuator.cc.

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Member Function Documentation

point3_t Stg::ModelActuator::GetAxis

(

)

const [inline]

Definition at line 3110 of file stage.hh.

double Stg::ModelActuator::GetMaxPosition

(

)

const [inline]

Definition at line 3106 of file stage.hh.

double Stg::ModelActuator::GetMinPosition

(

)

const [inline]

Definition at line 3107 of file stage.hh.

double Stg::ModelActuator::GetPosition

(

)

const [inline]

Definition at line 3105 of file stage.hh.

double Stg::ModelActuator::GetSpeed

(

)

const [inline]

Definition at line 3099 of file stage.hh.

ActuatorType Stg::ModelActuator::GetType

(

)

const [inline]

Definition at line 3109 of file stage.hh.

void ModelActuator::GoTo

(

double

pose

)

Sets the control mode to CONTROL_POSITION and sets the goal pose

Definition at line 319 of file model_actuator.cc.

void ModelActuator::Load

(

void

)

[virtual]

configure a model by reading from the current world file

Reimplemented from Stg::Model.

Definition at line 92 of file model_actuator.cc.

void ModelActuator::SetSpeed

(

double

speed

)

Sets the control_mode to CONTROL_VELOCITY and sets the goal velocity.

Definition at line 312 of file model_actuator.cc.

void ModelActuator::Shutdown

(

void

)

[virtual]

Reimplemented from Stg::Model.

Definition at line 300 of file model_actuator.cc.

void ModelActuator::Startup

(

void

)

[virtual]

Reimplemented from Stg::Model.

Definition at line 293 of file model_actuator.cc.

void ModelActuator::Update

(

void

)

[virtual]

Reimplemented from Stg::Model.

Definition at line 184 of file model_actuator.cc.

---

Member Data Documentation

ActuatorType Stg::ModelActuator::actuator_type [private]

Definition at line 3078 of file stage.hh.

point3_t Stg::ModelActuator::axis [private]

Definition at line 3079 of file stage.hh.

ControlMode Stg::ModelActuator::control_mode [private]

Definition at line 3077 of file stage.hh.

double Stg::ModelActuator::cosa [private]

Definition at line 3075 of file stage.hh.

double Stg::ModelActuator::goal [private]

Definition at line 3069 of file stage.hh.

Pose Stg::ModelActuator::InitialPose [private]

Definition at line 3081 of file stage.hh.

double Stg::ModelActuator::max_position [private]

Definition at line 3073 of file stage.hh.

double Stg::ModelActuator::max_speed [private]

Definition at line 3071 of file stage.hh.

double Stg::ModelActuator::min_position [private]

Definition at line 3072 of file stage.hh.

double Stg::ModelActuator::pos [private]

Definition at line 3070 of file stage.hh.

double Stg::ModelActuator::sina [private]

Definition at line 3076 of file stage.hh.

double Stg::ModelActuator::start_position [private]

Definition at line 3074 of file stage.hh.

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

• stage.hh
• model_actuator.cc