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SIGEL_Robot::SIG_Drive Class Reference

SIG_Drive models an actuator. More...

#include <SIG_Drive.h>

List of all members.

Public Types

enum  DriveMode { tForceMode, tRelativeMode, tAbsoluteMode }

Public Methods

 SIG_Drive (SIG_Robot *par, QString n, int nr = -1)
 SIG_Drive (SIG_Robot *par, QTextStream & tx)
 ~SIG_Drive (void)
QString getName (void) const
int getNumber (void) const
void setJoint (SIG_Joint *j)
void setMode (DriveMode dm)
SIG_Joint const* getJoint (void) const
DriveMode getMode (void) const
void setForces (DL_Scalar mn, DL_Scalar mx)
DL_Scalar getMinForce (void) const
DL_Scalar getMaxForce (void) const
void writeToFileTransfer (QTextStream & tx)

Private Attributes

SIG_Robotparent
QString name
int number
SIG_JointtheJoint
DriveMode mode
DL_Scalar minforce
DL_Scalar maxforce


Detailed Description

SIG_Drive models an actuator.

The actuator modelled by this class may apply forces only between links which are already connected with a joint.

Definition at line 20 of file SIG_Drive.h.


Member Enumeration Documentation

enum SIGEL_Robot::SIG_Drive::DriveMode
 

Definition at line 22 of file SIG_Drive.h.


Constructor & Destructor Documentation

SIGEL_Robot::SIG_Drive::SIG_Drive ( SIG_Robot * par,
QString n,
int nr = -1 )
 

Definition at line 4 of file SIG_Drive.cpp.

SIGEL_Robot::SIG_Drive::SIG_Drive ( SIG_Robot * par,
QTextStream & tx )
 

Definition at line 8 of file SIG_Drive.cpp.

SIGEL_Robot::SIG_Drive::~SIG_Drive ( void )
 

Definition at line 24 of file SIG_Drive.cpp.


Member Function Documentation

SIG_Joint const * SIGEL_Robot::SIG_Drive::getJoint ( void ) const
 

Definition at line 47 of file SIG_Drive.cpp.

Referenced by SIGEL_Simulation::SIG_DynaDrive::applyForce().

DL_Scalar SIGEL_Robot::SIG_Drive::getMaxForce ( void ) const
 

Definition at line 68 of file SIG_Drive.cpp.

DL_Scalar SIGEL_Robot::SIG_Drive::getMinForce ( void ) const
 

Definition at line 63 of file SIG_Drive.cpp.

SIG_Drive::DriveMode SIGEL_Robot::SIG_Drive::getMode ( void ) const
 

Definition at line 52 of file SIG_Drive.cpp.

QString SIGEL_Robot::SIG_Drive::getName ( void ) const
 

Definition at line 27 of file SIG_Drive.cpp.

int SIGEL_Robot::SIG_Drive::getNumber ( void ) const
 

Definition at line 32 of file SIG_Drive.cpp.

void SIGEL_Robot::SIG_Drive::setForces ( DL_Scalar mn,
DL_Scalar mx )
 

Definition at line 57 of file SIG_Drive.cpp.

void SIGEL_Robot::SIG_Drive::setJoint ( SIG_Joint * j )
 

Definition at line 37 of file SIG_Drive.cpp.

void SIGEL_Robot::SIG_Drive::setMode ( DriveMode dm )
 

Definition at line 42 of file SIG_Drive.cpp.

void SIGEL_Robot::SIG_Drive::writeToFileTransfer ( QTextStream & tx )
 

Definition at line 73 of file SIG_Drive.cpp.


Member Data Documentation

DL_Scalar SIGEL_Robot::SIG_Drive::maxforce [private]
 

Definition at line 29 of file SIG_Drive.h.

DL_Scalar SIGEL_Robot::SIG_Drive::minforce [private]
 

Definition at line 29 of file SIG_Drive.h.

DriveMode SIGEL_Robot::SIG_Drive::mode [private]
 

Definition at line 28 of file SIG_Drive.h.

QString SIGEL_Robot::SIG_Drive::name [private]
 

Definition at line 25 of file SIG_Drive.h.

int SIGEL_Robot::SIG_Drive::number [private]
 

Definition at line 26 of file SIG_Drive.h.

SIG_Robot * SIGEL_Robot::SIG_Drive::parent [private]
 

Definition at line 24 of file SIG_Drive.h.

SIG_Joint * SIGEL_Robot::SIG_Drive::theJoint [private]
 

Definition at line 27 of file SIG_Drive.h.


The documentation for this class was generated from the following files:
Generated at Mon Sep 3 01:32:36 2001 for PG 368 - SIGEL by doxygen1.2.3 written by Dimitri van Heesch, © 1997-2000