opal::ServoMotorData Class Reference

A data structure describing a ServoMotor. More...

#include <ServoMotorData.h>

Inheritance diagram for opal::ServoMotorData:

List of all members.

Public Member Functions
OPAL_DECL	ServoMotorData ()
OPAL_DECL	ServoMotorData (const ServoMotorData &data)
virtual OPAL_DECL	~ServoMotorData ()
virtual OPAL_DECL void OPAL_CALL	operator= (const ServoMotorData &data)
Public Attributes
Joint *	joint
int	internal_jointIndex
std::string	jointBlueprintRefName
ServoMotorMode	mode
int	jointAxisNum
real	desiredAngle
real	desiredVel
real	maxTorque
real	restoreSpeed

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Detailed Description

A data structure describing a ServoMotor.

Definition at line 49 of file ServoMotorData.h.

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Constructor & Destructor Documentation

OPAL_DECL opal::ServoMotorData::ServoMotorData (   )  [inline]

Definition at line 52 of file ServoMotorData.h. References opal::DESIRED_ANGLE_MODE, desiredAngle, desiredVel, internal_jointIndex, joint, jointAxisNum, jointBlueprintRefName, opal::defaults::motor::servo::maxTorque, maxTorque, mode, opal::MotorData::mType, opal::defaults::motor::servo::restoreSpeed, restoreSpeed, and opal::SERVO_MOTOR.

OPAL_DECL opal::ServoMotorData::ServoMotorData (  const ServoMotorData &  data  )  [inline]

Copy constructor. Definition at line 68 of file ServoMotorData.h.

virtual OPAL_DECL opal::ServoMotorData::~ServoMotorData (   )  [inline, virtual]

Definition at line 73 of file ServoMotorData.h.

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Member Function Documentation

virtual OPAL_DECL void OPAL_CALL opal::ServoMotorData::operator= (  const ServoMotorData &  data  )  [inline, virtual]

Makes a deep copy. Definition at line 78 of file ServoMotorData.h. References desiredAngle, desiredVel, opal::MotorData::enabled, internal_jointIndex, joint, jointAxisNum, jointBlueprintRefName, maxTorque, mode, opal::MotorData::mType, opal::MotorData::name, and restoreSpeed.

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Member Data Documentation

real opal::ServoMotorData::desiredAngle

The Motor's desired angle. This is only used if the appropriate mode is set. Definition at line 111 of file ServoMotorData.h. Referenced by opal::ServoMotor::getDesiredAngle(), opal::ServoMotor::internal_update(), operator=(), ServoMotorData(), opal::ServoMotor::setDesiredAngle(), and opal::ServoMotor::setDesiredAngleNorm().

real opal::ServoMotorData::desiredVel

The Motor's desired velocity. This is only used if the appropriate mode is set. Definition at line 115 of file ServoMotorData.h. Referenced by opal::ServoMotor::getDesiredVel(), operator=(), ServoMotorData(), opal::ServoMotor::setDesiredVel(), and opal::ServoMotor::setEnabled().

int opal::ServoMotorData::internal_jointIndex

Internal data used for Blueprint instantiation. Definition at line 98 of file ServoMotorData.h. Referenced by operator=(), and ServoMotorData().

Joint* opal::ServoMotorData::joint

Pointer to the Joint affected by this Motor. Definition at line 95 of file ServoMotorData.h. Referenced by opal::ServoMotor::init(), opal::ServoMotor::internal_dependsOnJoint(), opal::ServoMotor::internal_update(), operator=(), ServoMotorData(), opal::ServoMotor::setDesiredAngle(), opal::ServoMotor::setDesiredAngleNorm(), opal::ServoMotor::setDesiredVel(), opal::ServoMotor::setEnabled(), opal::ServoMotor::setMaxTorque(), and opal::ServoMotor::~ServoMotor().

int opal::ServoMotorData::jointAxisNum

The index of the Joint axes affected by this Motor. Definition at line 107 of file ServoMotorData.h. Referenced by opal::ServoMotor::init(), opal::ServoMotor::internal_update(), operator=(), ServoMotorData(), opal::ServoMotor::setDesiredAngle(), opal::ServoMotor::setDesiredAngleNorm(), opal::ServoMotor::setDesiredVel(), opal::ServoMotor::setEnabled(), opal::ServoMotor::setMaxTorque(), and opal::ServoMotor::~ServoMotor().

std::string opal::ServoMotorData::jointBlueprintRefName

String used for for intra-Blueprint references. Definition at line 101 of file ServoMotorData.h. Referenced by operator=(), and ServoMotorData().

real opal::ServoMotorData::maxTorque

The maximum amount of torque that can be used to help the Joint axis achieve its desired angle or velocity. Definition at line 119 of file ServoMotorData.h. Referenced by opal::ServoMotor::getMaxTorque(), operator=(), ServoMotorData(), opal::ServoMotor::setEnabled(), and opal::ServoMotor::setMaxTorque().

ServoMotorMode opal::ServoMotorData::mode

The Motor's mode of operation. Definition at line 104 of file ServoMotorData.h. Referenced by opal::ServoMotor::internal_update(), operator=(), and ServoMotorData().

real opal::ServoMotorData::restoreSpeed

A constant used in desired angle mode that scales how fast the Joint axis will achieve its desired angle. Definition at line 123 of file ServoMotorData.h. Referenced by opal::ServoMotor::getRestoreSpeed(), opal::ServoMotor::internal_update(), operator=(), ServoMotorData(), and opal::ServoMotor::setRestoreSpeed().

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

• ServoMotorData.h

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