Drake
RigidBodyActuator Class Reference

Defines a physical actuator (i.e., an electric motor and step-down transmission) that operates on a joint. More...

#include <drake/multibody/rigid_body_actuator.h>

Collaboration diagram for RigidBodyActuator:
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Public Member Functions

 RigidBodyActuator (const std::string &name, const RigidBody< double > *body, double reduction=1.0, double effort_limit_min=-std::numeric_limits< double >::infinity(), double effort_limit_max=std::numeric_limits< double >::infinity())
 The constructor. More...
 

Public Attributes

const std::string name_
 
const RigidBody< double > *const body_
 
const double reduction_
 
const double effort_limit_min_
 
const double effort_limit_max_
 

Detailed Description

Defines a physical actuator (i.e., an electric motor and step-down transmission) that operates on a joint.

This class assumes the actuator has a single DOF.

Constructor & Destructor Documentation

RigidBodyActuator ( const std::string &  name,
const RigidBody< double > *  body,
double  reduction = 1.0,
double  effort_limit_min = -std::numeric_limits<double>::infinity(),
double  effort_limit_max = std::numeric_limits<double>::infinity() 
)

The constructor.

Parameters
[in]nameThe name of the actuator.
[in]bodyA pointer to the rigid body whose joint's actuator is being described by this class.
[in]reductionThe gear reduction ratio of the actuator.
[in]effort_limit_minThe actuator's minimum effort limit. This has units of Nm for revolute joints and N for prismatic joints.
[in]effort_limit_maxThe actuator's maximum effort limit. This has units of Nm for revolute joints and N for prismatic joints.

Member Data Documentation

const RigidBody<double>* const body_
const double effort_limit_max_
const double effort_limit_min_
const std::string name_
const double reduction_

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