NTRT Simulator
v1.1
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Public Member Functions | |
Config (double s=1000.0, double d=10.0, double p=0.0, 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 | stiffness |
double | damping |
double | pretension |
bool | hist |
double | maxTens |
double | targetVelocity |
double | minActualLength |
double | minRestLength |
double | rotation |
Definition at line 51 of file tgSpringCableActuator.h.
tgSpringCableActuator::Config::Config | ( | double | s = 1000.0 , |
double | d = 10.0 , |
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double | p = 0.0 , |
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bool | h = false , |
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double | mf = 1000.0 , |
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double | tVel = 100.0 , |
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double | mnAL = 0.1 , |
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double | mnRL = 0.1 , |
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double | rot = 0 |
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) |
The only constructor. Parameters set the defaults for string material properties, construction properties and the motor model. Individual parameters are discussed below.
Definition at line 37 of file tgSpringCableActuator.cpp.
void tgSpringCableActuator::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.
Definition at line 86 of file tgSpringCableActuator.cpp.
double tgSpringCableActuator::Config::damping |
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 |
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 tgSpringCableActuator::Config::maxTens |
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 |
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 |
Rest length below which motor ceases to shorten Units are length Must be nonnegative
Definition at line 142 of file tgSpringCableActuator.h.
double tgSpringCableActuator::Config::pretension |
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 tgSpringCableActuator::Config::rotation |
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.
Definition at line 151 of file tgSpringCableActuator.h.
double tgSpringCableActuator::Config::stiffness |
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 |
Maximum velocity of the motor, usage in moveMotors Units are length/seconds Must be nonnegative.
Definition at line 128 of file tgSpringCableActuator.h.