Each SimMotor object publishes its state on the dataBroker. More...

#include <SimMotor.h>

Public Member Functions
	SimMotor (interfaces::ControlCenter *control, const interfaces::MotorData &sMotor)

	~SimMotor (void)

void	init (const std::string &name="", interfaces::MotorType type=interfaces::MOTOR_TYPE_UNDEFINED)

void	update (interfaces::sReal time_ms)

void	updateController ()

void	activate (void)

void	deactivate (void)

void	attachJoint (SimJoint *joint)

void	attachPlayJoint (SimJoint *joint)

void	estimateCurrent ()

void	estimateTemperature (interfaces::sReal time_ms)

interfaces::sReal	getMomentaryMaxEffort ()

interfaces::sReal	getMomentaryMaxSpeed ()

void	refreshPosition ()

void	refreshPositions ()

void	runPositionController (interfaces::sReal time_ms)

void	runVeloctiyController (interfaces::sReal time_ms)

void	runEffortController (interfaces::sReal time_ms)

void	addMimic (SimMotor *mimic)

void	removeMimic (std::string mimicname)

void	clearMimics ()

void	setMaxEffortApproximation (utils::ApproximationFunction type, std::vector< double > *coefficients)

void	setMaxSpeedApproximation (utils::ApproximationFunction type, std::vector< double > *coefficients)

void	setCurrentApproximation (utils::ApproximationFunction2D type, std::vector< double > *coefficients)

int	getAxis () const

interfaces::sReal	getAxisPosition (void) const

void	getCoreExchange (interfaces::core_objects_exchange *obj) const

interfaces::sReal	getCurrent (void) const

interfaces::sReal	getEffort (void) const

unsigned long	getIndex (void) const

bool	isServo () const

SimJoint *	getJoint () const

unsigned long	getJointIndex (void) const

const std::string	getName () const

interfaces::sReal	getMaxEffort () const

interfaces::sReal	getMaxSpeed () const

SimJoint *	getPlayJoint () const

interfaces::sReal	getPosition () const

const interfaces::MotorData	getSMotor (void) const

interfaces::sReal	getVelocity () const

interfaces::sReal	getControlParameter (void) const

interfaces::sReal	getControlValue (void) const

interfaces::sReal	getP () const

interfaces::sReal	getI () const

interfaces::sReal	getD () const

void	setPosition (interfaces::sReal angle)

void	setMaxEffort (interfaces::sReal effort)

void	setMaxSpeed (interfaces::sReal value)

void	setName (const std::string &newname)

void	setSMotor (const interfaces::MotorData &sMotor)

void	setType (interfaces::MotorType mtype)

void	setP (interfaces::sReal p)

void	setI (interfaces::sReal i)

void	setD (interfaces::sReal d)

void	setPID (interfaces::sReal mP, interfaces::sReal mI, interfaces::sReal mD)

void	setMinValue (interfaces::sReal d)

void	setMaxValue (interfaces::sReal d)

void	setVelocity (interfaces::sReal v)

void	setControlValue (interfaces::sReal value)

void	setMimic (interfaces::sReal multiplier, interfaces::sReal offset)

void	getDataBrokerNames (std::string groupName, std::string dataName) const

virtual void	produceData (const data_broker::DataInfo &info, data_broker::DataPackage *package, int callbackParam)

virtual void	receiveData (const data_broker::DataInfo &info, const data_broker::DataPackage &package, int callbackParam)
	The DataBroker will call this method to notify the receiver of whenever the condition for which the receiver registered occur. More...

interfaces::sReal	getMotorMaxForce () const __attribute__((deprecated("use getMaxEffort")))

interfaces::sReal	getMaximumVelocity () const __attribute__((deprecated("use getMaxSpeed")))

interfaces::sReal	getTorque (void) const __attribute__((deprecated("use getEffort")))

interfaces::sReal	getValue (void) const __attribute__((deprecated("use getControlValue")))

interfaces::sReal	getActualPosition (void) const __attribute__((deprecated("use getPosition")))

interfaces::sReal	getDesiredMotorAngle () const __attribute__((deprecated("use getControlValue")))

void	setActualAngle (interfaces::sReal angle) __attribute__((deprecated("use setCurrentPosition")))

void	setDesiredMotorAngle (interfaces::sReal angle) __attribute__((deprecated("use setPosition / setControlValue")))

void	setMaximumVelocity (interfaces::sReal value) __attribute__((deprecated("use setMaxSpeed")))

void	setMotorMaxForce (interfaces::sReal force) __attribute__((deprecated("use setMaxEffort")))

void	setValue (interfaces::sReal value) __attribute__((deprecated("use setControlValue")))

void	setDesiredMotorVelocity (interfaces::sReal value) __attribute__((deprecated("if use dc motor setControlValue otherwise you could use setMaxVelocity?")))

void	setValueDesiredVelocity (interfaces::sReal value) __attribute__((deprecated("if use dc motor setControlValue otherwise you could use setMaxVelocity?")))

void	refreshAngle () __attribute__((deprecated("use refreshPosition(s)")))

Public Member Functions inherited from mars::data_broker::ProducerInterface
	ProducerInterface ()

virtual	~ProducerInterface ()

Public Member Functions inherited from mars::data_broker::ReceiverInterface
	ReceiverInterface ()

virtual	~ReceiverInterface ()

Private Types
typedef void(SimJoint::*	JointControlFunction) (interfaces::sReal, unsigned char)

typedef void(SimMotor::*	MotorControlFunction) (interfaces::sReal)

typedef double(*	ApproximationFunction) (double , std::vector< double > )

typedef double(*	ApproximationFunction2D) (double , double , std::vector< double > *)

Private Member Functions
void	initCurrentEstimation ()

void	initTemperatureEstimation ()

interfaces::sReal	calcHeatDissipation (interfaces::sReal time_ms) const

interfaces::sReal	calcHeatProduction (interfaces::sReal time_ms) const

Private Attributes
unsigned char	axis

SimJoint *	myJoint

SimJoint *	myPlayJoint

interfaces::ControlCenter *	control

interfaces::MotorData	sMotor

interfaces::sReal	time

interfaces::sReal	velocity

interfaces::sReal	position1

interfaces::sReal	position2

interfaces::sReal	effort

interfaces::sReal	tmpmaxeffort

interfaces::sReal	tmpmaxspeed

interfaces::sReal	current

interfaces::sReal	temperature

interfaces::sReal *	position

bool	active

std::map< std::string, SimMotor * >	mimics

bool	mimic

interfaces::sReal	mimic_multiplier

interfaces::sReal	mimic_offset

interfaces::sReal	controlValue

interfaces::sReal *	controlParameter

interfaces::sReal *	controlLimit

JointControlFunction	setJointControlParameter

MotorControlFunction	runController

interfaces::sReal	p

interfaces::sReal	i

interfaces::sReal	d

interfaces::sReal	last_error

interfaces::sReal	integ_error

interfaces::sReal	joint_velocity

interfaces::sReal	error

double *	maxspeed_x

double *	maxeffort_x

std::vector< interfaces::sReal > *	maxeffort_coefficients

std::vector< interfaces::sReal > *	maxspeed_coefficients

std::vector< interfaces::sReal > *	current_coefficients

ApproximationFunction	maxEffortApproximation

ApproximationFunction	maxSpeedApproximation

ApproximationFunction2D	currentApproximation

interfaces::sReal	kXY

interfaces::sReal	kX

interfaces::sReal	kY

interfaces::sReal	k

interfaces::sReal	voltage

interfaces::sReal	ambientTemperature

interfaces::sReal	heatlossCoefficient

interfaces::sReal	heatCapacity

interfaces::sReal	heatTransferCoefficient

data_broker::DataPackage	dbPackage

unsigned long	dbPushId

long	dbIdIndex

long	dbControlParameterIndex

long	dbPositionIndex

long	dbCurrentIndex

long	dbEffortIndex

long	dbMaxEffortIndex

int	pushToDataBroker

Detailed Description

Each SimMotor object publishes its state on the dataBroker.

The name under which the data is published can be obtained from the motorId via MotorManager::getDataBrokerNames. The data_broker::DataPackage will contain the following items:

"id" (long)
"value" (double)
"position" (double)
"current" (double)
"torque" (double)

Definition at line 59 of file SimMotor.h.

Member Typedef Documentation

◆ ApproximationFunction

typedef double(* mars::sim::SimMotor::ApproximationFunction) (double *, std::vector< double > *)

private

Definition at line 169 of file SimMotor.h.

◆ ApproximationFunction2D

typedef double(* mars::sim::SimMotor::ApproximationFunction2D) (double *, double *, std::vector< double > *)

private

Definition at line 170 of file SimMotor.h.

◆ JointControlFunction

typedef void(SimJoint::* mars::sim::SimMotor::JointControlFunction) (interfaces::sReal, unsigned char)

private

Definition at line 167 of file SimMotor.h.

◆ MotorControlFunction

typedef void(SimMotor::* mars::sim::SimMotor::MotorControlFunction) (interfaces::sReal)

private

Definition at line 168 of file SimMotor.h.

Constructor & Destructor Documentation

◆ SimMotor()

mars::sim::SimMotor::SimMotor	(	interfaces::ControlCenter *	control,
		const interfaces::MotorData &	sMotor
	)

Definition at line 43 of file SimMotor.cpp.

◆ ~SimMotor()

mars::sim::SimMotor::~SimMotor ( void )

Definition at line 127 of file SimMotor.cpp.

Member Function Documentation

◆ activate()

void mars::sim::SimMotor::activate ( void )

Definition at line 774 of file SimMotor.cpp.

◆ addMimic()

void mars::sim::SimMotor::addMimic ( SimMotor * mimic )

Definition at line 150 of file SimMotor.cpp.

◆ attachJoint()

void mars::sim::SimMotor::attachJoint ( SimJoint * joint )

Definition at line 487 of file SimMotor.cpp.

◆ attachPlayJoint()

void mars::sim::SimMotor::attachPlayJoint ( SimJoint * joint )

Definition at line 491 of file SimMotor.cpp.

◆ calcHeatDissipation()

sReal mars::sim::SimMotor::calcHeatDissipation ( interfaces::sReal time_ms ) const

private

Definition at line 417 of file SimMotor.cpp.

◆ calcHeatProduction()

sReal mars::sim::SimMotor::calcHeatProduction ( interfaces::sReal time_ms ) const

private

Definition at line 426 of file SimMotor.cpp.

◆ clearMimics()

void mars::sim::SimMotor::clearMimics ( )

Definition at line 158 of file SimMotor.cpp.

◆ deactivate()

void mars::sim::SimMotor::deactivate ( void )

Definition at line 770 of file SimMotor.cpp.

◆ estimateCurrent()

void mars::sim::SimMotor::estimateCurrent ( )

Definition at line 397 of file SimMotor.cpp.

◆ estimateTemperature()

void mars::sim::SimMotor::estimateTemperature ( interfaces::sReal time_ms )

Definition at line 404 of file SimMotor.cpp.

◆ getActualPosition()

sReal mars::sim::SimMotor::getActualPosition ( void ) const

Definition at line 582 of file SimMotor.cpp.

◆ getAxis()

int mars::sim::SimMotor::getAxis ( ) const

Definition at line 503 of file SimMotor.cpp.

◆ getAxisPosition()

interfaces::sReal mars::sim::SimMotor::getAxisPosition ( void ) const

◆ getControlParameter()

sReal mars::sim::SimMotor::getControlParameter ( void ) const

Definition at line 636 of file SimMotor.cpp.

◆ getControlValue()

sReal mars::sim::SimMotor::getControlValue ( void ) const

Definition at line 721 of file SimMotor.cpp.

◆ getCoreExchange()

void mars::sim::SimMotor::getCoreExchange ( interfaces::core_objects_exchange * obj ) const

Definition at line 751 of file SimMotor.cpp.

◆ getCurrent()

sReal mars::sim::SimMotor::getCurrent ( void ) const

Definition at line 758 of file SimMotor.cpp.

◆ getD()

sReal mars::sim::SimMotor::getD ( ) const

Definition at line 672 of file SimMotor.cpp.

◆ getDataBrokerNames()

void mars::sim::SimMotor::getDataBrokerNames	(	std::string *	groupName,
		std::string *	dataName
	)		const

Definition at line 778 of file SimMotor.cpp.

◆ getDesiredMotorAngle()

sReal mars::sim::SimMotor::getDesiredMotorAngle ( ) const

Definition at line 545 of file SimMotor.cpp.

◆ getEffort()

sReal mars::sim::SimMotor::getEffort ( void ) const

Definition at line 762 of file SimMotor.cpp.

◆ getI()

sReal mars::sim::SimMotor::getI ( ) const

Definition at line 668 of file SimMotor.cpp.

◆ getIndex()

unsigned long mars::sim::SimMotor::getIndex ( void ) const

Definition at line 743 of file SimMotor.cpp.

◆ getJoint()

SimJoint * mars::sim::SimMotor::getJoint ( ) const

Definition at line 495 of file SimMotor.cpp.

◆ getJointIndex()

unsigned long mars::sim::SimMotor::getJointIndex ( void ) const

Definition at line 747 of file SimMotor.cpp.

◆ getMaxEffort()

sReal mars::sim::SimMotor::getMaxEffort ( ) const

Definition at line 570 of file SimMotor.cpp.

◆ getMaximumVelocity()

sReal mars::sim::SimMotor::getMaximumVelocity ( ) const

Definition at line 606 of file SimMotor.cpp.

◆ getMaxSpeed()

sReal mars::sim::SimMotor::getMaxSpeed ( ) const

Definition at line 602 of file SimMotor.cpp.

◆ getMomentaryMaxEffort()

sReal mars::sim::SimMotor::getMomentaryMaxEffort ( )

Definition at line 472 of file SimMotor.cpp.

◆ getMomentaryMaxSpeed()

sReal mars::sim::SimMotor::getMomentaryMaxSpeed ( )

Definition at line 480 of file SimMotor.cpp.

◆ getMotorMaxForce()

sReal mars::sim::SimMotor::getMotorMaxForce ( ) const

Definition at line 574 of file SimMotor.cpp.

◆ getName()

const std::string mars::sim::SimMotor::getName ( ) const

Definition at line 507 of file SimMotor.cpp.

◆ getP()

sReal mars::sim::SimMotor::getP ( ) const

Definition at line 664 of file SimMotor.cpp.

◆ getPlayJoint()

SimJoint * mars::sim::SimMotor::getPlayJoint ( ) const

Definition at line 499 of file SimMotor.cpp.

◆ getPosition()

sReal mars::sim::SimMotor::getPosition ( void ) const

Definition at line 578 of file SimMotor.cpp.

◆ getSMotor()

const MotorData mars::sim::SimMotor::getSMotor ( void ) const

Definition at line 685 of file SimMotor.cpp.

◆ getTorque()

sReal mars::sim::SimMotor::getTorque ( void ) const

Definition at line 766 of file SimMotor.cpp.

◆ getValue()

sReal mars::sim::SimMotor::getValue ( void ) const

Definition at line 717 of file SimMotor.cpp.

◆ getVelocity()

sReal mars::sim::SimMotor::getVelocity ( void ) const

Definition at line 640 of file SimMotor.cpp.

◆ init()

void mars::sim::SimMotor::init	(	const std::string &	name = `""`,
		interfaces::MotorType	type = `interfaces::MOTOR_TYPE_UNDEFINED`
	)

◆ initCurrentEstimation()

void mars::sim::SimMotor::initCurrentEstimation ( )

private

Definition at line 438 of file SimMotor.cpp.

◆ initTemperatureEstimation()

void mars::sim::SimMotor::initTemperatureEstimation ( )

private

Definition at line 430 of file SimMotor.cpp.

◆ isServo()

bool mars::sim::SimMotor::isServo ( ) const

Definition at line 610 of file SimMotor.cpp.

◆ produceData()

void mars::sim::SimMotor::produceData	(	const data_broker::DataInfo &	info,
		data_broker::DataPackage *	package,
		int	callbackParam
	)

virtual

Implements mars::data_broker::ProducerInterface.

Definition at line 788 of file SimMotor.cpp.

◆ receiveData()

void mars::sim::SimMotor::receiveData	(	const data_broker::DataInfo &	info,
		const data_broker::DataPackage &	dataPackage,
		int	callbackParam
	)

virtual

The DataBroker will call this method to notify the receiver of whenever the condition for which the receiver registered occur.

Parameters

info	Information about the DataPackage.
dataPackage	The DataPackage containing all the data.
callbackParam	The `int` the receiver passed during registration. The default (the receiver didn't provide a callbackParam) is 0. This can be used to easily distinguish different registrations.

Implements mars::data_broker::ReceiverInterface.

Definition at line 799 of file SimMotor.cpp.

◆ refreshAngle()

void mars::sim::SimMotor::refreshAngle ( )

Definition at line 464 of file SimMotor.cpp.

◆ refreshPosition()

void mars::sim::SimMotor::refreshPosition ( )

Definition at line 452 of file SimMotor.cpp.

◆ refreshPositions()

void mars::sim::SimMotor::refreshPositions ( )

Definition at line 459 of file SimMotor.cpp.

◆ removeMimic()

void mars::sim::SimMotor::removeMimic ( std::string mimicname )

Definition at line 154 of file SimMotor.cpp.

◆ runEffortController()

void mars::sim::SimMotor::runEffortController ( interfaces::sReal time_ms )

Definition at line 266 of file SimMotor.cpp.

◆ runPositionController()

void mars::sim::SimMotor::runPositionController ( interfaces::sReal time_ms )

Definition at line 298 of file SimMotor.cpp.

◆ runVeloctiyController()

void mars::sim::SimMotor::runVeloctiyController ( interfaces::sReal time_ms )

Definition at line 294 of file SimMotor.cpp.

◆ setActualAngle()

void mars::sim::SimMotor::setActualAngle ( interfaces::sReal angle )

Definition at line 590 of file SimMotor.cpp.

◆ setControlValue()

void mars::sim::SimMotor::setControlValue ( interfaces::sReal value )

Definition at line 693 of file SimMotor.cpp.

◆ setCurrentApproximation()

void mars::sim::SimMotor::setCurrentApproximation	(	utils::ApproximationFunction2D	type,
		std::vector< double > *	coefficients
	)

Definition at line 214 of file SimMotor.cpp.

◆ setD()

void mars::sim::SimMotor::setD ( interfaces::sReal d )

Definition at line 660 of file SimMotor.cpp.

◆ setDesiredMotorAngle()

void mars::sim::SimMotor::setDesiredMotorAngle ( interfaces::sReal angle )

Definition at line 515 of file SimMotor.cpp.

◆ setDesiredMotorVelocity()

void mars::sim::SimMotor::setDesiredMotorVelocity ( interfaces::sReal value )

Definition at line 530 of file SimMotor.cpp.

◆ setI()

void mars::sim::SimMotor::setI ( interfaces::sReal i )

Definition at line 656 of file SimMotor.cpp.

◆ setMaxEffort()

void mars::sim::SimMotor::setMaxEffort ( interfaces::sReal effort )

Definition at line 561 of file SimMotor.cpp.

◆ setMaxEffortApproximation()

void mars::sim::SimMotor::setMaxEffortApproximation	(	utils::ApproximationFunction	type,
		std::vector< double > *	coefficients
	)

Definition at line 168 of file SimMotor.cpp.

◆ setMaximumVelocity()

void mars::sim::SimMotor::setMaximumVelocity ( interfaces::sReal value )

Definition at line 598 of file SimMotor.cpp.

◆ setMaxSpeed()

void mars::sim::SimMotor::setMaxSpeed ( interfaces::sReal value )

Definition at line 594 of file SimMotor.cpp.

◆ setMaxSpeedApproximation()

void mars::sim::SimMotor::setMaxSpeedApproximation	(	utils::ApproximationFunction	type,
		std::vector< double > *	coefficients
	)

Definition at line 191 of file SimMotor.cpp.

◆ setMaxValue()

void mars::sim::SimMotor::setMaxValue ( interfaces::sReal d )

Definition at line 648 of file SimMotor.cpp.

◆ setMimic()

void mars::sim::SimMotor::setMimic	(	interfaces::sReal	multiplier,
		interfaces::sReal	offset
	)

Definition at line 162 of file SimMotor.cpp.

◆ setMinValue()

void mars::sim::SimMotor::setMinValue ( interfaces::sReal d )

Definition at line 644 of file SimMotor.cpp.

◆ setMotorMaxForce()

void mars::sim::SimMotor::setMotorMaxForce ( interfaces::sReal force )

Definition at line 566 of file SimMotor.cpp.

◆ setName()

void mars::sim::SimMotor::setName ( const std::string & newname )

Definition at line 511 of file SimMotor.cpp.

◆ setP()

void mars::sim::SimMotor::setP ( interfaces::sReal p )

Definition at line 652 of file SimMotor.cpp.

◆ setPID()

void mars::sim::SimMotor::setPID	(	interfaces::sReal	mP,
		interfaces::sReal	mI,
		interfaces::sReal	mD
	)

Definition at line 725 of file SimMotor.cpp.

◆ setPosition()

void mars::sim::SimMotor::setPosition ( interfaces::sReal angle )

Definition at line 586 of file SimMotor.cpp.

◆ setSMotor()

void mars::sim::SimMotor::setSMotor ( const interfaces::MotorData & sMotor )

Definition at line 676 of file SimMotor.cpp.

◆ setType()

void mars::sim::SimMotor::setType ( interfaces::MotorType mtype )

Definition at line 616 of file SimMotor.cpp.

◆ setValue()

void mars::sim::SimMotor::setValue ( interfaces::sReal value )

Definition at line 689 of file SimMotor.cpp.

◆ setValueDesiredVelocity()

void mars::sim::SimMotor::setValueDesiredVelocity ( interfaces::sReal value )

Definition at line 807 of file SimMotor.cpp.

◆ setVelocity()

void mars::sim::SimMotor::setVelocity ( interfaces::sReal v )

Definition at line 621 of file SimMotor.cpp.

◆ update()

void mars::sim::SimMotor::update ( interfaces::sReal time_ms )

Definition at line 353 of file SimMotor.cpp.

◆ updateController()

void mars::sim::SimMotor::updateController ( )

Definition at line 227 of file SimMotor.cpp.

Member Data Documentation

◆ active

bool mars::sim::SimMotor::active

private

Definition at line 182 of file SimMotor.h.

◆ ambientTemperature

interfaces::sReal mars::sim::SimMotor::ambientTemperature

private

Definition at line 218 of file SimMotor.h.

◆ axis

unsigned char mars::sim::SimMotor::axis

private

Definition at line 173 of file SimMotor.h.

◆ control

interfaces::ControlCenter* mars::sim::SimMotor::control

private

Definition at line 175 of file SimMotor.h.

◆ controlLimit

interfaces::sReal* mars::sim::SimMotor::controlLimit

private

Definition at line 191 of file SimMotor.h.

◆ controlParameter

interfaces::sReal* mars::sim::SimMotor::controlParameter

private

Definition at line 190 of file SimMotor.h.

◆ controlValue

interfaces::sReal mars::sim::SimMotor::controlValue

private

Definition at line 189 of file SimMotor.h.

◆ current

interfaces::sReal mars::sim::SimMotor::current

private

Definition at line 180 of file SimMotor.h.

◆ current_coefficients

std::vector<interfaces::sReal>* mars::sim::SimMotor::current_coefficients

private

Definition at line 205 of file SimMotor.h.

◆ currentApproximation

ApproximationFunction2D mars::sim::SimMotor::currentApproximation

private

Definition at line 208 of file SimMotor.h.

◆ d

interfaces::sReal mars::sim::SimMotor::d

private

Definition at line 194 of file SimMotor.h.

◆ dbControlParameterIndex

long mars::sim::SimMotor::dbControlParameterIndex

private

Definition at line 228 of file SimMotor.h.

◆ dbCurrentIndex

long mars::sim::SimMotor::dbCurrentIndex

private

Definition at line 228 of file SimMotor.h.

◆ dbEffortIndex

long mars::sim::SimMotor::dbEffortIndex

private

Definition at line 228 of file SimMotor.h.

◆ dbIdIndex

long mars::sim::SimMotor::dbIdIndex

private

Definition at line 228 of file SimMotor.h.

◆ dbMaxEffortIndex

long mars::sim::SimMotor::dbMaxEffortIndex

private

Definition at line 228 of file SimMotor.h.

◆ dbPackage

data_broker::DataPackage mars::sim::SimMotor::dbPackage

private

Definition at line 226 of file SimMotor.h.

◆ dbPositionIndex

long mars::sim::SimMotor::dbPositionIndex

private

Definition at line 228 of file SimMotor.h.

◆ dbPushId

unsigned long mars::sim::SimMotor::dbPushId

private

Definition at line 227 of file SimMotor.h.

◆ effort

interfaces::sReal mars::sim::SimMotor::effort

private

Definition at line 178 of file SimMotor.h.

◆ error

interfaces::sReal mars::sim::SimMotor::error

private

Definition at line 198 of file SimMotor.h.

◆ heatCapacity

interfaces::sReal mars::sim::SimMotor::heatCapacity

private

Definition at line 220 of file SimMotor.h.

◆ heatlossCoefficient

interfaces::sReal mars::sim::SimMotor::heatlossCoefficient

private

Definition at line 219 of file SimMotor.h.

◆ heatTransferCoefficient

interfaces::sReal mars::sim::SimMotor::heatTransferCoefficient

private

Definition at line 221 of file SimMotor.h.

◆ i

interfaces::sReal mars::sim::SimMotor::i

private

Definition at line 194 of file SimMotor.h.

◆ integ_error

interfaces::sReal mars::sim::SimMotor::integ_error

private

Definition at line 196 of file SimMotor.h.

◆ joint_velocity

interfaces::sReal mars::sim::SimMotor::joint_velocity

private

Definition at line 197 of file SimMotor.h.

◆ k

interfaces::sReal mars::sim::SimMotor::k

private

Definition at line 212 of file SimMotor.h.

◆ kX

interfaces::sReal mars::sim::SimMotor::kX

private

Definition at line 212 of file SimMotor.h.

◆ kXY

interfaces::sReal mars::sim::SimMotor::kXY

private

Definition at line 212 of file SimMotor.h.

◆ kY

interfaces::sReal mars::sim::SimMotor::kY

private

Definition at line 212 of file SimMotor.h.

◆ last_error

interfaces::sReal mars::sim::SimMotor::last_error

private

Definition at line 195 of file SimMotor.h.

◆ maxeffort_coefficients

std::vector<interfaces::sReal>* mars::sim::SimMotor::maxeffort_coefficients

private

Definition at line 203 of file SimMotor.h.

◆ maxeffort_x

double* mars::sim::SimMotor::maxeffort_x

private

Definition at line 202 of file SimMotor.h.

◆ maxEffortApproximation

ApproximationFunction mars::sim::SimMotor::maxEffortApproximation

private

Definition at line 206 of file SimMotor.h.

◆ maxspeed_coefficients

std::vector<interfaces::sReal>* mars::sim::SimMotor::maxspeed_coefficients

private

Definition at line 204 of file SimMotor.h.

◆ maxspeed_x

double* mars::sim::SimMotor::maxspeed_x

private

Definition at line 201 of file SimMotor.h.

◆ maxSpeedApproximation

ApproximationFunction mars::sim::SimMotor::maxSpeedApproximation

private

Definition at line 207 of file SimMotor.h.

◆ mimic

bool mars::sim::SimMotor::mimic

private

Definition at line 184 of file SimMotor.h.

◆ mimic_multiplier

interfaces::sReal mars::sim::SimMotor::mimic_multiplier

private

Definition at line 185 of file SimMotor.h.

◆ mimic_offset

interfaces::sReal mars::sim::SimMotor::mimic_offset

private

Definition at line 186 of file SimMotor.h.

◆ mimics

std::map<std::string, SimMotor*> mars::sim::SimMotor::mimics

private

Definition at line 183 of file SimMotor.h.

◆ myJoint

SimJoint* mars::sim::SimMotor::myJoint

private

Definition at line 174 of file SimMotor.h.

◆ myPlayJoint

SimJoint * mars::sim::SimMotor::myPlayJoint

private

Definition at line 174 of file SimMotor.h.

◆ p

interfaces::sReal mars::sim::SimMotor::p

private

Definition at line 194 of file SimMotor.h.

◆ position

interfaces::sReal* mars::sim::SimMotor::position

private

Definition at line 181 of file SimMotor.h.

◆ position1

interfaces::sReal mars::sim::SimMotor::position1

private

Definition at line 178 of file SimMotor.h.

◆ position2

interfaces::sReal mars::sim::SimMotor::position2

private

Definition at line 178 of file SimMotor.h.

◆ pushToDataBroker

int mars::sim::SimMotor::pushToDataBroker

private

Definition at line 229 of file SimMotor.h.

◆ runController

MotorControlFunction mars::sim::SimMotor::runController

private

Definition at line 193 of file SimMotor.h.

◆ setJointControlParameter

JointControlFunction mars::sim::SimMotor::setJointControlParameter

private

Definition at line 192 of file SimMotor.h.

◆ sMotor

interfaces::MotorData mars::sim::SimMotor::sMotor

private

Definition at line 176 of file SimMotor.h.

◆ temperature

interfaces::sReal mars::sim::SimMotor::temperature

private

Definition at line 180 of file SimMotor.h.

◆ time

interfaces::sReal mars::sim::SimMotor::time

private

Definition at line 177 of file SimMotor.h.

◆ tmpmaxeffort

interfaces::sReal mars::sim::SimMotor::tmpmaxeffort

private

Definition at line 179 of file SimMotor.h.

◆ tmpmaxspeed

interfaces::sReal mars::sim::SimMotor::tmpmaxspeed

private

Definition at line 179 of file SimMotor.h.

◆ velocity

interfaces::sReal mars::sim::SimMotor::velocity

private

Definition at line 178 of file SimMotor.h.

◆ voltage

interfaces::sReal mars::sim::SimMotor::voltage

private

Definition at line 217 of file SimMotor.h.

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

/Developer/bob-learning-dev/simulation/mars/sim/src/core/SimMotor.h
/Developer/bob-learning-dev/simulation/mars/sim/src/core/SimMotor.cpp

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ ApproximationFunction

◆ ApproximationFunction2D

◆ JointControlFunction

◆ MotorControlFunction

Constructor & Destructor Documentation

◆ SimMotor()

◆ ~SimMotor()

Member Function Documentation

◆ activate()

◆ addMimic()

◆ attachJoint()

◆ attachPlayJoint()

◆ calcHeatDissipation()

◆ calcHeatProduction()

◆ clearMimics()

◆ deactivate()

◆ estimateCurrent()

◆ estimateTemperature()

◆ getActualPosition()

◆ getAxis()

◆ getAxisPosition()

◆ getControlParameter()

◆ getControlValue()

◆ getCoreExchange()

◆ getCurrent()

◆ getD()

◆ getDataBrokerNames()

◆ getDesiredMotorAngle()

◆ getEffort()

◆ getI()

◆ getIndex()

◆ getJoint()

◆ getJointIndex()

◆ getMaxEffort()

◆ getMaximumVelocity()

◆ getMaxSpeed()

◆ getMomentaryMaxEffort()

◆ getMomentaryMaxSpeed()

◆ getMotorMaxForce()

◆ getName()

◆ getP()

◆ getPlayJoint()

◆ getPosition()

◆ getSMotor()

◆ getTorque()

◆ getValue()

◆ getVelocity()

◆ init()

◆ initCurrentEstimation()

◆ initTemperatureEstimation()

◆ isServo()

◆ produceData()

◆ receiveData()

◆ refreshAngle()

◆ refreshPosition()

◆ refreshPositions()

◆ removeMimic()

◆ runEffortController()

◆ runPositionController()

◆ runVeloctiyController()

◆ setActualAngle()

◆ setControlValue()

◆ setCurrentApproximation()

◆ setD()

◆ setDesiredMotorAngle()

◆ setDesiredMotorVelocity()

◆ setI()

◆ setMaxEffort()

◆ setMaxEffortApproximation()

◆ setMaximumVelocity()

◆ setMaxSpeed()

◆ setMaxSpeedApproximation()

◆ setMaxValue()

◆ setMimic()