WheelMotorController Class Reference
Dedicated controller for wheeled robots. More...
Public Member Functions | |
| WheelMotorController (QVector< PhyDOF * > wheels, World *world) | |
| Constructor. | |
| virtual | ~WheelMotorController () |
| Destructor. | |
| void | getSpeedLimits (QVector< double > &minSpeeds, QVector< double > &maxSpeeds) |
| gets the minimum and maximum velocities for each wheel | |
| void | getSpeedLimits (double &minSpeed1, double &minSpeed2, double &maxSpeed1, double &maxSpeed2) |
| utility method to get the minimum and maximum velocities of the first two wheels | |
| void | getSpeeds (double &sp1, double &sp2) |
| utility method to get the current speed to the first two wheels | |
| void | getSpeeds (QVector< double > &speeds) |
| gets the current speed of the wheels | |
| void | setSpeedLimits (QVector< double > minSpeeds, QVector< double > maxSpeeds) |
| sets the minimum and maximum velocities for each wheel | |
| void | setSpeedLimits (double minSpeed1, double minSpeed2, double maxSpeed1, double maxSpeed2) |
| utility method to set the minimum and maximum velocities of the first two wheels | |
| void | setSpeeds (double sp1, double sp2) |
| utility method for setting speeds to the first two wheels | |
| void | setSpeeds (QVector< double > speeds) |
| sets the desired speed for the wheels | |
| virtual void | update () |
| apply the velocities on the wheels | |
| QVector< PhyDOF * > & | wheels () |
| return the wheels controlled | |
Detailed Description
Dedicated controller for wheeled robots.
Definition at line 377 of file motorcontrollers.h.
Constructor & Destructor Documentation
| WheelMotorController | ( | QVector< PhyDOF * > | wheels, |
| World * | world | ||
| ) |
Constructor.
- Parameters:
-
dofs vector of wheels actuated by this controller
Definition at line 763 of file motorcontrollers.cpp.
| ~WheelMotorController | ( | ) | [virtual] |
Destructor.
Definition at line 771 of file motorcontrollers.cpp.
Member Function Documentation
| void getSpeedLimits | ( | QVector< double > & | minSpeeds, |
| QVector< double > & | maxSpeeds | ||
| ) |
gets the minimum and maximum velocities for each wheel
- Note:
- speed is expressed in rad/sec
Definition at line 835 of file motorcontrollers.cpp.
| void getSpeedLimits | ( | double & | minSpeed1, |
| double & | minSpeed2, | ||
| double & | maxSpeed1, | ||
| double & | maxSpeed2 | ||
| ) |
utility method to get the minimum and maximum velocities of the first two wheels
- Note:
- speed is expressed in rad/sec
Definition at line 840 of file motorcontrollers.cpp.
| void getSpeeds | ( | QVector< double > & | speeds | ) |
gets the current speed of the wheels
- Note:
- speed is expressed in rad/sec
Definition at line 811 of file motorcontrollers.cpp.
| void getSpeeds | ( | double & | sp1, |
| double & | sp2 | ||
| ) |
utility method to get the current speed to the first two wheels
- Note:
- speed is expressed in rad/sec
Definition at line 818 of file motorcontrollers.cpp.
| void setSpeedLimits | ( | double | minSpeed1, |
| double | minSpeed2, | ||
| double | maxSpeed1, | ||
| double | maxSpeed2 | ||
| ) |
utility method to set the minimum and maximum velocities of the first two wheels
- Note:
- speed is expressed in rad/sec
Definition at line 828 of file motorcontrollers.cpp.
| void setSpeedLimits | ( | QVector< double > | minSpeeds, |
| QVector< double > | maxSpeeds | ||
| ) |
sets the minimum and maximum velocities for each wheel
- Note:
- speed is expressed in rad/sec
Definition at line 823 of file motorcontrollers.cpp.
Referenced by PhyMarXbot::PhyMarXbot().
| void setSpeeds | ( | double | sp1, |
| double | sp2 | ||
| ) |
utility method for setting speeds to the first two wheels
- Note:
- speed is expressed in rad/sec
Definition at line 793 of file motorcontrollers.cpp.
| void setSpeeds | ( | QVector< double > | speeds | ) |
sets the desired speed for the wheels
- Note:
- speed is expressed in rad/sec
Definition at line 781 of file motorcontrollers.cpp.
| void update | ( | ) | [virtual] |
apply the velocities on the wheels
Implements MotorController.
Definition at line 775 of file motorcontrollers.cpp.
Referenced by PhyMarXbot::preUpdate().
| QVector<PhyDOF*>& wheels | ( | ) | [inline] |
return the wheels controlled
Definition at line 386 of file motorcontrollers.h.
The documentation for this class was generated from the following files:
- worldsim/include/motorcontrollers.h
- worldsim/src/motorcontrollers.cpp