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OpenRAVE::SensorBase::ActuatorGeomData Class Reference

#include <sensor.h>

Inheritance diagram for OpenRAVE::SensorBase::ActuatorGeomData:
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Collaboration diagram for OpenRAVE::SensorBase::ActuatorGeomData:
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Public Member Functions

virtual SensorType GetType ()
 
- Public Member Functions inherited from OpenRAVE::SensorBase::SensorGeometry
virtual ~SensorGeometry ()
 

Public Attributes

dReal maxtorque
 Maximum possible torque actuator can apply (on output side). This includes the actuator's rotor, if one exists.
 
dReal maxcurrent
 Maximum permissible current of the actuator. If this current value is exceeded for a prolonged period of time, then an error could occur (due to heat, etc).
 
dReal nominalcurrent
 Rated current of the actuator.
 
dReal maxvelocity
 Maximum permissible velocity of the system (on output side).
 
dReal maxacceleration
 Maximum permissible acceleration of the system (on output side).
 
dReal maxjerk
 Maximum permissible jerking of the system (on output side). The jerk results from a sudden change in acceleration.
 
dReal staticfriction
 minimum torque that must be applied for actuator to overcome static friction
 
dReal viscousfriction
 friction depending on the velocity of the actuator
 

Detailed Description

Definition at line 273 of file sensor.h.

Member Function Documentation

virtual SensorType OpenRAVE::SensorBase::ActuatorGeomData::GetType ( )
inlinevirtual

Implements OpenRAVE::SensorBase::SensorGeometry.

Definition at line 276 of file sensor.h.

Member Data Documentation

dReal OpenRAVE::SensorBase::ActuatorGeomData::maxacceleration

Maximum permissible acceleration of the system (on output side).

Definition at line 283 of file sensor.h.

dReal OpenRAVE::SensorBase::ActuatorGeomData::maxcurrent

Maximum permissible current of the actuator. If this current value is exceeded for a prolonged period of time, then an error could occur (due to heat, etc).

Definition at line 280 of file sensor.h.

dReal OpenRAVE::SensorBase::ActuatorGeomData::maxjerk

Maximum permissible jerking of the system (on output side). The jerk results from a sudden change in acceleration.

Definition at line 284 of file sensor.h.

dReal OpenRAVE::SensorBase::ActuatorGeomData::maxtorque

Maximum possible torque actuator can apply (on output side). This includes the actuator's rotor, if one exists.

Definition at line 279 of file sensor.h.

dReal OpenRAVE::SensorBase::ActuatorGeomData::maxvelocity

Maximum permissible velocity of the system (on output side).

Definition at line 282 of file sensor.h.

dReal OpenRAVE::SensorBase::ActuatorGeomData::nominalcurrent

Rated current of the actuator.

Definition at line 281 of file sensor.h.

dReal OpenRAVE::SensorBase::ActuatorGeomData::staticfriction

minimum torque that must be applied for actuator to overcome static friction

Definition at line 285 of file sensor.h.

dReal OpenRAVE::SensorBase::ActuatorGeomData::viscousfriction

friction depending on the velocity of the actuator

Definition at line 286 of file sensor.h.


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