class dofModule

derived module class for modules with degrees of freedom

Inheritance:

Public Fields

ptrList joints

a list of the module's joints

Public Methods

virtual double maxVel(joint* jt, int dof) const = 0

returns the maximum velocity for the specified DOF and joint

virtual double maxTorque(joint* jt, int dof, int isBraking) const = 0

returns the maximum torque for the indicated DOF given current velocity

virtual double contTorque(joint* jt, int dof) const = 0

returns the continuous torque rating for the indicated DOF

virtual double power(joint* jt, int dof) const = 0

returns the power used by the indicated DOF, given current vel & torque

virtual int isPassive(joint* jt, int dof) const = 0

returns 1 if the joint is passive, 0 if actuated

inline int numJoints(void) const

returns the number of joints

inline joint* getJoint(int i)

returns the i'th joint

Inherited from module:

Public Fields

static int currentID

static const tmatrix connectionRotation

configuration* cfg

int ref

char* name

bool isPrototype

handedness whichSide

module* parent

assembly* as

ptrList* params

ptrList* attachments

cptrList* components

const componentContext* context

Public Methods

Virtual methods.

convenience functions

inline const ptrList* getDependencies(int whichParam)

Public Members

enum subType

enum handedness

Protected Methods

void assignConnectorIDs(void)

Inherited from synObject:

Public Fields

static int staticClassID

int objectID

int verboseLevel

Public Methods

virtual const char* className(void) const

virtual synObject* copy(void) const

virtual int isOfType(int typeNum, int derivedOk)

static int setStaticClassID(void)

virtual int classID(void) const

Documentation

derived module class for modules with degrees of freedom

ptrList joints

a list of the module's joints

virtual double maxVel(joint* jt, int dof) const = 0

returns the maximum velocity for the specified DOF and joint

virtual double maxTorque(joint* jt, int dof, int isBraking) const = 0

returns the maximum torque for the indicated DOF given current velocity

virtual double contTorque(joint* jt, int dof) const = 0

returns the continuous torque rating for the indicated DOF

virtual double power(joint* jt, int dof) const = 0

returns the power used by the indicated DOF, given current vel & torque

virtual int isPassive(joint* jt, int dof) const = 0

returns 1 if the joint is passive, 0 if actuated

inline int numJoints(void) const

returns the number of joints

inline joint* getJoint(int i)

returns the i'th joint

Direct child classes:

jointModule
baseModule

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