tgKinematicActuator::Config Struct Reference

Inheritance diagram for tgKinematicActuator::Config:

Collaboration diagram for tgKinematicActuator::Config:

Public Member Functions
	Config (double s=1000.0, double d=10.0, double p=0.0, double rad=1.0, double moFric=0.0, double moInert=1.0, bool back=false, bool h=false, double mf=1000.0, double tVel=100.0, double mnAL=0.1, double mnRL=0.1, double rot=0)
void	scale (double sf)

Public Attributes
double	radius
double	motorFriction
double	motorInertia
bool	backdrivable
double	maxOmega
double	maxTorque
double	stiffness
double	damping
double	pretension
bool	hist
double	maxTens
double	targetVelocity
double	minActualLength
double	minRestLength
double	rotation

Detailed Description

Definition at line 43 of file tgKinematicActuator.h.

Member Function Documentation

void tgKinematicActuator::Config::scale

(

double

sf

)

Scale parameters that depend on the length of the simulation. Centemeter scale has been used throughout many of the demos, so those assumptions are baked into the default parameters.

Member Data Documentation

bool tgKinematicActuator::Config::backdrivable

Should probably have friction if this is true

Definition at line 88 of file tgKinematicActuator.h.

double tgSpringCableActuator::Config::damping

inherited

Specifies the damping (b) term in the linear force equation. Units are mass / seconds Must be non-negative. Similar to stiffness in usage

Definition at line 90 of file tgSpringCableActuator.h.

bool tgSpringCableActuator::Config::hist

inherited

Specifies whether data such as length and tension will be stored in deque objects. Useful for computing the energy of a trial.

Definition at line 105 of file tgSpringCableActuator.h.

double tgKinematicActuator::Config::maxOmega

Convience values calculated from other values

Definition at line 92 of file tgKinematicActuator.h.

double tgSpringCableActuator::Config::maxTens

inherited

The parameters that affect how the string can be controlled. Enforces a flat torque (force) speed curve with tgBasicActuator, and a linear torque speed curve with tgKinematicActuator Maximum tension that the motor can exert. String will not shorten if this threshold is exceeded, but the tension can still be increased by other members. Units are force (length * mass / seconds^2) Must be nonnegative.

Definition at line 121 of file tgSpringCableActuator.h.

double tgSpringCableActuator::Config::minActualLength

inherited

Actual length below which motor ceases to shorten. Units are length Must be nonnegative

Definition at line 135 of file tgSpringCableActuator.h.

double tgSpringCableActuator::Config::minRestLength

inherited

Rest length below which motor ceases to shorten Units are length Must be nonnegative

Definition at line 142 of file tgSpringCableActuator.h.

double tgKinematicActuator::Config::motorFriction

This has units of length^2 * mass / sec as it gets multiplied by speed when added to d-omega/dt Therefore this is really a damping coefficent (B) not the unitless (mu)

Definition at line 77 of file tgKinematicActuator.h.

double tgKinematicActuator::Config::motorInertia

This has units of mass * length^2. If this and r are both 1 its effectively a linear actuator

Definition at line 83 of file tgKinematicActuator.h.

double tgSpringCableActuator::Config::pretension

inherited

Specifies the amount of tension (in units of force) in the string at construction. Adjusts the rest length, Must be low enough (based on stiffness) to leave the rest length non-negitive

Definition at line 98 of file tgSpringCableActuator.h.

double tgKinematicActuator::Config::radius

Units of length

Definition at line 69 of file tgKinematicActuator.h.

double tgSpringCableActuator::Config::rotation

inherited

Specifies the rotation around the face of the object its attached to. +/- PI is the most meaningful. absolute value must be < 2 * PI Units are radians.

Todo:

Is this meaningful for non-rod shapes?

Definition at line 151 of file tgSpringCableActuator.h.

double tgSpringCableActuator::Config::stiffness

inherited

Linear Hookean stiffness of the string (k). Must be non-negative. Upper limit depends on the timestep - stiffer springs will require a lower timestep. Used in Muscle2P, tensionMinLengthController, moveMotors (to enforce max force constraints) Units are mass / seconds^2

Definition at line 84 of file tgSpringCableActuator.h.

double tgSpringCableActuator::Config::targetVelocity

inherited

Maximum velocity of the motor, usage in moveMotors Units are length/seconds Must be nonnegative.

Definition at line 128 of file tgSpringCableActuator.h.

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

• core/tgKinematicActuator.h
• core/tgKinematicActuator.cpp