Actuator Class Reference

#include <Actuator.h>

Public Types
Local Types
enum class	DynamicsType { Force , Velocity }

Public Member Functions
Construction
	Actuator (Robot *const _r, const std::string &_label, const DynamicsType _t=DynamicsType::Force)
	Actuator (Robot *const _r, XMLNode &_node)
	Actuator (Robot *const _r, const Actuator &_a)
Properties
Robot *	GetRobot () const
	Get the robot that the actuator is on. More...
std::string	GetLabel () const
	Get the label for this actuator. More...
DynamicsType	GetDynamicsType () const
	Get the type of output this actuator produces. More...
void	SetLimits (const std::vector< double > &_min, const std::vector< double > &_max)
void	SetMaxForce (const double _total)
Planning Interface
std::vector< bool >	ControlMask () const
std::vector< double >	ComputeOutput (const Control::Signal &_s) const
Control::Signal	ComputeNearestSignal (const std::vector< double > &_force) const
Control	GetRandomControl () const noexcept
	Get a random control in this actuator's control space. More...

Friends
Debug
std::ostream &	operator<< (std::ostream &, const Actuator &)
	Print an actuator's state to an ostream. More...

Detailed Description

Models an actuator on a robot, such as an engine or motor.

Actuators model a means of locomotion for a robot. They accept a control signal and produce a generalized force on one or more of the robot's DOFs. There are limits on the maximum forward/backward force that can be applied to each DOF, and an additional limit on the maximum total force.

The range of all possible controls that an actuator can accept is represented with a ControlSpace.

The actuator is also able to apply a control to the simulated robot with the Execute method.

Warning

The max force doesn't distinguish between forces and torques: it is a maximum generalized force. It's unlikely that this object will make much sense if it controls both force DOFs (i.e., translation or prismatic joint extension) and torque DOFs (i.e., rotation and revolute/spherical joints).

Member Enumeration Documentation

DynamicsType

enum Actuator::DynamicsType

strong

The types of dynamics supported. Force-based actuators exert forces on a robot, while velocity-based actuators simply set the velocity.

Enumerator
Force
Velocity

Constructor & Destructor Documentation

Actuator() [1/3]

Actuator::Actuator	(	Robot *const	_r,
		const std::string &	_label,
		const DynamicsType	_t = DynamicsType::Force
	)

Construct an empty actuator for a given robot.

Parameters

_r	The owning robot.
_label	The actuator label.
_t	The dynamics type.

Actuator() [2/3]

Actuator::Actuator	(	Robot *const	_r,
		XMLNode &	_node
	)

Construct an actuator for a given robot from an XML input.

Parameters

_r	The owning robot.
_node	The XML input node.

Actuator() [3/3]

Actuator::Actuator	(	Robot *const	_r,
		const Actuator &	_a
	)

Copy an actuator to another robot.

Parameters

_r	The robot which will own the new copy.
_a	The actuator to copy.

Member Function Documentation

ComputeNearestSignal()

Control::Signal Actuator::ComputeNearestSignal

(

const std::vector< double > &

_force

)

const

Compute the best-match signal to get this actuator to produce a given force.

Parameters

_force

The desired force in the robot's local frame.

Returns

The signal in this actuator's control space that produces the effect most similar to _force.

ComputeOutput()

std::vector< double > Actuator::ComputeOutput

(

const Control::Signal &

_s

)

const

Compute the output (force or velocity) generated by driving the actuator at some fraction of its total power.

Parameters

_s	The control signal to apply.

Returns

The force/velocity generated in the robot's local frame by driving this with control signal _s.

Todo:

Generalize this so that the robot's starting point can be taken into account. Currently we assume that the generated force is independent of starting state.

ControlMask()

std::vector< bool > Actuator::ControlMask

(

)

const

Get the control mask for this actuator, which indicates the DOFs that it can affect.

Returns

A vector with one boolean for each DOF, where true indicates that the actuator can affect that DOF.

GetDynamicsType()

Actuator::DynamicsType Actuator::GetDynamicsType

(

)

const

Get the type of output this actuator produces.

GetLabel()

std::string Actuator::GetLabel

(

)

const

Get the label for this actuator.

GetRandomControl()

Control Actuator::GetRandomControl ( ) const

noexcept

Get a random control in this actuator's control space.

GetRobot()

Robot * Actuator::GetRobot

(

)

const

Get the robot that the actuator is on.

SetLimits()

void Actuator::SetLimits	(	const std::vector< double > &	_min,
		const std::vector< double > &	_max
	)

Set the minimum and maximum generalized forces that this actuator can apply to any DOF.

Parameters

_min	The minimum generalized forces.
_max	The maximum generalized forces.

SetMaxForce()

void Actuator::SetMaxForce

(

const double

_total

)

Set the maximum total generalized force that this actuator can apply.

Parameters

_total

The greatest total generalized force that can be applied.

Friends And Related Function Documentation

operator<<

std::ostream& operator<< ( std::ostream &  _os, const Actuator &  _a  )

friend

Print an actuator's state to an ostream.

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

• /opt/actions-runner/_work/open-ppl/open-ppl/src/MPProblem/Robot/Actuator.h
• /opt/actions-runner/_work/open-ppl/open-ppl/src/MPProblem/Robot/Actuator.cpp