MotorController Class Reference

Sync entries here with those in KinematicJoint::ControllerInfo. More...

#include <MotorControllers.h>

Inheritance diagram for MotorController:

[legend]

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Detailed Description

Sync entries here with those in KinematicJoint::ControllerInfo.

Definition at line 164 of file MotorControllers.h.

List of all members.

Public Member Functions
	MotorController (const plist::Primitive< float > &tgt_, ConstraintInterface &c)
virtual	~MotorController ()
virtual void	updateControllerResponse (float dt)=0
Public Attributes
const plist::Primitive< float > &	tgt
ConstraintInterface &	constraint
plist::Primitive< bool >	velocity
plist::Primitive< bool >	forceControl
	If true, simulation will use force control to move the joint rather than using position constraints. Grippers should set this to true for more realistic object interaction.

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Constructor & Destructor Documentation

MotorController::MotorController	(	const plist::Primitive< float > &	tgt_,
		ConstraintInterface &	c
	)

Definition at line 166 of file MotorControllers.h.

virtual MotorController::~MotorController

(

)

[virtual]

Definition at line 173 of file MotorControllers.h.

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Member Function Documentation

virtual void MotorController::updateControllerResponse

(

float

dt

)

[pure virtual]

Implemented in LinearMotorController, ProportionalMotorController, and PIDMotorController.

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Member Data Documentation

ConstraintInterface& MotorController::constraint

Definition at line 178 of file MotorControllers.h.

Referenced by LinearMotorController::updateControllerResponse().

plist::Primitive<bool> MotorController::forceControl

If true, simulation will use force control to move the joint rather than using position constraints. Grippers should set this to true for more realistic object interaction.

Definition at line 181 of file MotorControllers.h.

Referenced by MotorController().

const plist::Primitive<float>& MotorController::tgt

Definition at line 177 of file MotorControllers.h.

Referenced by LinearMotorController::updateControllerResponse().

plist::Primitive<bool> MotorController::velocity

Definition at line 180 of file MotorControllers.h.

Referenced by MotorController().

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

• MotorControllers.h