OdeLogicalJoint Class Reference

Convenience class for mapping from physical ODE joints in the model to control joints in the ICUB specification. More...

#include <OdeLogicalJoint.h>

Inheritance diagram for OdeLogicalJoint:

Public Member Functions
	OdeLogicalJoint ()
	Constructor. More...
virtual	~OdeLogicalJoint ()
	Destructor. More...
OdeLogicalJoint *	nest (int len)
	Create an array of nested control units. More...
OdeLogicalJoint *	at (int index)
	Access a nested control unit. More...
void	init (const char *unit, const char *type, int index, int sign, RobotConfig &conf)
	Initialize a regular control unit. More...
void	init (OdeLogicalJoint &left, OdeLogicalJoint &right, OdeLogicalJoint &peer, int sgn)
	Initialize a differential pair of control units. More...
double	getAngle ()
	Get the angle of an associated joint, in ICUB units and sign. More...
double	getVelocity ()
	Get the angular velocity of an associated joint, in ICUB units and sign. More...
double	getAngleRaw ()
	Get the angle of an associated joint in unconverted units and sign. More...
double	getVelocityRaw ()
	Get the velocity of an associated joint in unconverted units and sign. More...
double	getSpeedSetpoint ()
	Get the current target velocity. More...
double	getTorque ()
	this is just a fake torque interface for now More...
void	setTorque (double target)
	Set the reference torque. More...
void	setControlParameters (double vel, double acc)
	Set velocity and acceleration control parameters. More...
void	setPosition (double target)
	Drive towards an angle setpoint (in ICUB units/sign). More...
void	setVelocity (double target)
	Set velocity of joint (in ICUB units/sign). More...
void	setVelocityRaw (double target)
	Set raw velocity of joint (in ODE units/sign). More...
virtual bool	isValid ()
void	controlModeChanged (int cm)
Public Member Functions inherited from LogicalJoint
virtual	~LogicalJoint ()
	Destructor. More...

Detailed Description

Convenience class for mapping from physical ODE joints in the model to control joints in the ICUB specification.

Definition at line 40 of file OdeLogicalJoint.h.

Constructor & Destructor Documentation

OdeLogicalJoint()

OdeLogicalJoint::OdeLogicalJoint

(

)

Constructor.

Definition at line 30 of file OdeLogicalJoint.cpp.

~OdeLogicalJoint()

OdeLogicalJoint::~OdeLogicalJoint ( )

virtual

Destructor.

Definition at line 47 of file OdeLogicalJoint.cpp.

Member Function Documentation

at()

OdeLogicalJoint * OdeLogicalJoint::at

(

int

index

)

Access a nested control unit.

Definition at line 64 of file OdeLogicalJoint.cpp.

controlModeChanged()

void OdeLogicalJoint::controlModeChanged ( int  cm )

virtual

Implements LogicalJoint.

Definition at line 276 of file OdeLogicalJoint.cpp.

getAngle()

double OdeLogicalJoint::getAngle ( )

inlinevirtual

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

Implements LogicalJoint.

Definition at line 76 of file OdeLogicalJoint.h.

getAngleRaw()

double OdeLogicalJoint::getAngleRaw

(

)

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

Definition at line 186 of file OdeLogicalJoint.cpp.

getSpeedSetpoint()

double OdeLogicalJoint::getSpeedSetpoint ( )

inline

Get the current target velocity.

Definition at line 100 of file OdeLogicalJoint.h.

getTorque()

double OdeLogicalJoint::getTorque ( )

virtual

this is just a fake torque interface for now

Implements LogicalJoint.

Definition at line 175 of file OdeLogicalJoint.cpp.

getVelocity()

double OdeLogicalJoint::getVelocity ( )

inlinevirtual

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

Implements LogicalJoint.

Definition at line 83 of file OdeLogicalJoint.h.

getVelocityRaw()

double OdeLogicalJoint::getVelocityRaw

(

)

Get the velocity of an associated joint in unconverted units and sign.

Definition at line 202 of file OdeLogicalJoint.cpp.

init() [1/2]

void OdeLogicalJoint::init	(	const char *	unit,
		const char *	type,
		int	index,
		int	sign,
		RobotConfig &	conf
	)

Initialize a regular control unit.

Definition at line 85 of file OdeLogicalJoint.cpp.

init() [2/2]

void OdeLogicalJoint::init	(	OdeLogicalJoint &	left,
		OdeLogicalJoint &	right,
		OdeLogicalJoint &	peer,
		int	sgn
	)

Initialize a differential pair of control units.

Definition at line 71 of file OdeLogicalJoint.cpp.

isValid()

virtual bool OdeLogicalJoint::isValid ( )

inlinevirtual

Implements LogicalJoint.

Definition at line 129 of file OdeLogicalJoint.h.

nest()

OdeLogicalJoint * OdeLogicalJoint::nest

(

int

len

)

Create an array of nested control units.

The array will be destroyed when this object is destroyed.

Definition at line 54 of file OdeLogicalJoint.cpp.

setControlParameters()

void OdeLogicalJoint::setControlParameters ( double  vel, double  acc  )

virtual

Set velocity and acceleration control parameters.

Implements LogicalJoint.

Definition at line 221 of file OdeLogicalJoint.cpp.

setPosition()

void OdeLogicalJoint::setPosition ( double  target )

virtual

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

Implements LogicalJoint.

Definition at line 236 of file OdeLogicalJoint.cpp.

setTorque()

void OdeLogicalJoint::setTorque ( double  target )

virtual

Set the reference torque.

Implements LogicalJoint.

Definition at line 182 of file OdeLogicalJoint.cpp.

setVelocity()

void OdeLogicalJoint::setVelocity ( double  target )

virtual

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

Implements LogicalJoint.

Definition at line 247 of file OdeLogicalJoint.cpp.

setVelocityRaw()

void OdeLogicalJoint::setVelocityRaw

(

double

target

)

Set raw velocity of joint (in ODE units/sign).

Definition at line 257 of file OdeLogicalJoint.cpp.

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

• icub-main/src/simulators/iCubSimulation/odesdl/OdeLogicalJoint.h
• icub-main/src/simulators/iCubSimulation/odesdl/OdeLogicalJoint.cpp