LogicalJoint Class Reference

Abstract class for mapping from "physical" (simulated) joints in the model to control joints in the ICUB specification. More...

#include <LogicalJoint.h>

Inheritance diagram for LogicalJoint:

Public Member Functions
virtual	~LogicalJoint ()
	Destructor. More...
virtual double	getAngle ()=0
	Get the angle of an associated joint, in ICUB units and sign. More...
virtual double	getVelocity ()=0
	Get the angular velocity of an associated joint, in ICUB units and sign. More...
virtual void	setControlParameters (double vel, double acc)=0
	Set velocity and acceleration control parameters. More...
virtual void	setPosition (double target)=0
	Drive towards an angle setpoint (in ICUB units/sign). More...
virtual void	setVelocity (double target)=0
	Set velocity of joint (in ICUB units/sign). More...
virtual bool	isValid ()=0
virtual double	getTorque ()=0
	this is just a fake torque interface for now More...
virtual void	setTorque (double target)=0
	Set the reference torque. More...
virtual void	controlModeChanged (int cm)=0

Detailed Description

Abstract class for mapping from "physical" (simulated) joints in the model to control joints in the ICUB specification.

Definition at line 33 of file LogicalJoint.h.

Constructor & Destructor Documentation

~LogicalJoint()

virtual LogicalJoint::~LogicalJoint ( )

inlinevirtual

Destructor.

Definition at line 38 of file LogicalJoint.h.

Member Function Documentation

controlModeChanged()

virtual void LogicalJoint::controlModeChanged ( int  cm )

pure virtual

Implemented in OdeLogicalJoint, and FakeLogicalJoint.

getAngle()

virtual double LogicalJoint::getAngle ( )

pure virtual

Get the angle of an associated joint, in ICUB units and sign.

Implemented in OdeLogicalJoint, FakeLogicalJoint, and BlenderLogicalJoints.

getTorque()

virtual double LogicalJoint::getTorque ( )

pure virtual

this is just a fake torque interface for now

Implemented in OdeLogicalJoint, and FakeLogicalJoint.

getVelocity()

virtual double LogicalJoint::getVelocity ( )

pure virtual

Get the angular velocity of an associated joint, in ICUB units and sign.

Implemented in OdeLogicalJoint, FakeLogicalJoint, and BlenderLogicalJoints.

isValid()

virtual bool LogicalJoint::isValid ( )

pure virtual

Implemented in OdeLogicalJoint, FakeLogicalJoint, and BlenderLogicalJoints.

setControlParameters()

virtual void LogicalJoint::setControlParameters ( double  vel, double  acc  )

pure virtual

Set velocity and acceleration control parameters.

Implemented in OdeLogicalJoint, FakeLogicalJoint, and BlenderLogicalJoints.

setPosition()

virtual void LogicalJoint::setPosition ( double  target )

pure virtual

Drive towards an angle setpoint (in ICUB units/sign).

Implemented in OdeLogicalJoint, FakeLogicalJoint, and BlenderLogicalJoints.

setTorque()

virtual void LogicalJoint::setTorque ( double  target )

pure virtual

Set the reference torque.

Implemented in OdeLogicalJoint, and FakeLogicalJoint.

setVelocity()

virtual void LogicalJoint::setVelocity ( double  target )

pure virtual

Set velocity of joint (in ICUB units/sign).

Implemented in OdeLogicalJoint, FakeLogicalJoint, and BlenderLogicalJoints.

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

• icub-main/src/simulators/iCubSimulation/wrapper/LogicalJoint.h