cens::CENSHingeData Struct Reference

#include <cens_serialized_engine.h>

Collaboration diagram for cens::CENSHingeData:

Public Member Functions
	CENSHingeData ()
	~CENSHingeData ()

Public Attributes
CENSHingeConstraint *	hinge
std::string	motor_type
std::string	enabled
double	max_motor_impulse
double	kp
double	ki
double	kd
double	dyn_kd
double	motor_dt
double	current_angle
double	lower_limit
double	upper_limit
std::string	enable_collision

Detailed Description

Data structure to import and maintain a serialized hinge

Definition at line 103 of file cens_serialized_engine.h.

Constructor & Destructor Documentation

cens::CENSHingeData::CENSHingeData ( )

inline

Definition at line 132 of file cens_serialized_engine.h.

cens::CENSHingeData::~CENSHingeData ( )

inline

Definition at line 149 of file cens_serialized_engine.h.

Member Data Documentation

double cens::CENSHingeData::current_angle

Target position

Definition at line 124 of file cens_serialized_engine.h.

Referenced by cens::CENSSerializedRobot::update().

double cens::CENSHingeData::dyn_kd

Dynamic derivative amplitude - to be set proportional to the impulse (PD control)

Definition at line 120 of file cens_serialized_engine.h.

Referenced by cens::CENSSerializedRobot::update().

std::string cens::CENSHingeData::enable_collision

collision

Definition at line 130 of file cens_serialized_engine.h.

Referenced by cens::CENSSerializedRobot::init().

std::string cens::CENSHingeData::enabled

Motor control is enabled on this hinge

Definition at line 110 of file cens_serialized_engine.h.

Referenced by cens::CENSSerializedRobot::init(), and cens::CENSSerializedRobot::update().

CENSHingeConstraint* cens::CENSHingeData::hinge

The pointer to an hinge constraint

Definition at line 106 of file cens_serialized_engine.h.

Referenced by cens::CENSSerializedRobot::init(), and cens::CENSSerializedRobot::update().

double cens::CENSHingeData::kd

Derivative amplitude (PD control)

Definition at line 118 of file cens_serialized_engine.h.

double cens::CENSHingeData::ki

Integral amplitude (PD control)

Definition at line 116 of file cens_serialized_engine.h.

Referenced by cens::CENSSerializedRobot::update().

double cens::CENSHingeData::kp

Proportional amplitude (PD control)

Definition at line 114 of file cens_serialized_engine.h.

Referenced by cens::CENSSerializedRobot::update().

double cens::CENSHingeData::lower_limit

lover rotation limit

Definition at line 126 of file cens_serialized_engine.h.

Referenced by cens::CENSSerializedRobot::init(), and cens::CENSSerializedRobot::update().

double cens::CENSHingeData::max_motor_impulse

Maximum amplitude of motor impulse

Definition at line 112 of file cens_serialized_engine.h.

Referenced by cens::CENSSerializedRobot::init(), and cens::CENSSerializedRobot::update().

double cens::CENSHingeData::motor_dt

Integration step of the motor controller

Definition at line 122 of file cens_serialized_engine.h.

Referenced by cens::CENSSerializedRobot::update().

std::string cens::CENSHingeData::motor_type

Type of motor control (CENS_DEFAULT_CONTROL/CENS_PD_CONTROL)

Definition at line 108 of file cens_serialized_engine.h.

Referenced by cens::CENSSerializedRobot::update().

double cens::CENSHingeData::upper_limit

upper rotation limit

Definition at line 128 of file cens_serialized_engine.h.

Referenced by cens::CENSSerializedRobot::init(), and cens::CENSSerializedRobot::update().

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

• src/cens_serialized_engine.h