OpenRAVE::SensorBase::ActuatorSensorData Class Reference

An actuator for modeling motors and other mechanisms that produce torque/force. The actuator has only one degree of freedom. More...

#include <sensor.h>

Inheritance diagram for OpenRAVE::SensorBase::ActuatorSensorData:

Collaboration diagram for OpenRAVE::SensorBase::ActuatorSensorData:

Public Types
enum	ActuatorState {   AS_Undefined =0, AS_Idle =1, AS_Moving =2, AS_Stalled =3,   AS_Braked =4 }
	the state of the actuator More...

Public Member Functions
	ActuatorSensorData ()
virtual SensorType	GetType ()
Public Member Functions inherited from OpenRAVE::SensorBase::SensorData
virtual	~SensorData ()
virtual bool	serialize (std::ostream &O) const
	Serialize the sensor data to stream in XML format.

Public Attributes
ActuatorState	state
dReal	measuredcurrent
	measured current from the actuator
dReal	measuredtemperature
	measured temperature from the actuator
dReal	appliedcurrent
	current sent to the actuator
Public Attributes inherited from OpenRAVE::SensorBase::SensorData
uint64_t	__stamp
	time stamp of the sensor data in microseconds. If 0, then the data is uninitialized! (floating-point precision is bad here). This can be either simulation or real time depending on the sensor.
Transform	__trans
	the coordinate system the sensor was when the measurement was taken, this is taken directly from SensorBase::GetTransform

Detailed Description

An actuator for modeling motors and other mechanisms that produce torque/force. The actuator has only one degree of freedom.

Definition at line 156 of file sensor.h.

Member Enumeration Documentation

enum OpenRAVE::SensorBase::ActuatorSensorData::ActuatorState

the state of the actuator

Enumerator:

AS_Undefined	returned when no state is defined
AS_Idle	this actuator is idle
AS_Moving	this actuator is in motion from previous commands
AS_Stalled	the actuator is stalled, needs to be unstalled by sending a ready signal
AS_Braked	the actuator is braked

Definition at line 160 of file sensor.h.

Constructor & Destructor Documentation

OpenRAVE::SensorBase::ActuatorSensorData::ActuatorSensorData ( )

inline

Definition at line 168 of file sensor.h.

Member Function Documentation

virtual SensorType OpenRAVE::SensorBase::ActuatorSensorData::GetType ( )

inlinevirtual

Implements OpenRAVE::SensorBase::SensorData.

Definition at line 170 of file sensor.h.

Member Data Documentation

dReal OpenRAVE::SensorBase::ActuatorSensorData::appliedcurrent

current sent to the actuator

Definition at line 177 of file sensor.h.

dReal OpenRAVE::SensorBase::ActuatorSensorData::measuredcurrent

measured current from the actuator

Definition at line 175 of file sensor.h.

dReal OpenRAVE::SensorBase::ActuatorSensorData::measuredtemperature

measured temperature from the actuator

Definition at line 176 of file sensor.h.

ActuatorState OpenRAVE::SensorBase::ActuatorSensorData::state

Definition at line 174 of file sensor.h.

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

• /var/lib/jenkins/workspace/openrave_documentation/openrave/include/openrave/sensor.h (2013-03-18 10:33:00 +0900, commit:334d202)