Dedicated controller for wheeled robots. More...

Inheritance diagram for WheelMotorController:

Public Member Functions
	WheelMotorController (QVector< PhyDOF * > wheels, World *world)
	Constructor. More...

virtual	~WheelMotorController ()
	Destructor. More...

void	getDesiredSpeeds (QVector< double > &speeds) const
	gets the desired speed of the wheels More...

void	getDesiredSpeeds (double &sp1, double &sp2) const
	utility method to get the desired speed to the first two wheels More...

double	getMaxTorque () const
	gets the maximum allowed torque of wheels More...

void	getSpeedLimits (QVector< double > &minSpeeds, QVector< double > &maxSpeeds) const
	gets the minimum and maximum velocities for each wheel More...

void	getSpeedLimits (double &minSpeed1, double &minSpeed2, double &maxSpeed1, double &maxSpeed2) const
	utility method to get the minimum and maximum velocities of the first two wheels More...

void	getSpeeds (QVector< double > &speeds) const
	gets the current speed of the wheels More...

void	getSpeeds (double &sp1, double &sp2) const
	utility method to get the current speed to the first two wheels More...

void	setMaxTorque (double maxTorque)
	sets the maximum allowed torque of wheels More...

void	setSpeedLimits (QVector< double > minSpeeds, QVector< double > maxSpeeds)
	sets the minimum and maximum velocities for each wheel More...

void	setSpeedLimits (double minSpeed1, double minSpeed2, double maxSpeed1, double maxSpeed2)
	utility method to set the minimum and maximum velocities of the first two wheels More...

void	setSpeeds (QVector< double > speeds)
	sets the desired speed for the wheels More...

void	setSpeeds (double sp1, double sp2)
	utility method for setting speeds to the first two wheels More...

virtual void	update ()
	apply the velocities on the wheels More...

QVector< PhyDOF * > &	wheels ()
	return the wheels controlled More...

Public Member Functions inherited from MotorController
	MotorController (World *world)
	constructor More...

virtual	~MotorController ()
	Destructor. More...

bool	isEnabled ()
	return true is if enable (hence if it is on) More...

void	setEnabled (bool b)
	Enable/Disable this motorcontroller. More...

World *	world ()
	return the world More...

Public Member Functions inherited from Ownable
	Ownable ()
	Constructor. More...

virtual	~Ownable ()
	Destructor. More...

const QList< Owned > &	owned () const
	Returns the list of objects owned by this one. More...

Ownable *	owner () const
	Returns the owner of this object. More...

void	setOwner (Ownable *owner, bool destroy=true)
	Sets the owner of this object. More...

Additional Inherited Members
Public Types inherited from Ownable
typedef QList< Owned >	OwnedList
	The type for the list of owned objects. More...

Detailed Description

Dedicated controller for wheeled robots.

Definition at line 167 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 379 of file motorcontrollers.cpp.

~WheelMotorController ( )

virtual

Destructor.

Definition at line 387 of file motorcontrollers.cpp.

Member Function Documentation

void getDesiredSpeeds ( QVector< double > & speeds ) const

gets the desired speed of the wheels

Note: speed is expressed in rad/sec

Definition at line 439 of file motorcontrollers.cpp.

void getDesiredSpeeds	(	double &	sp1,
		double &	sp2
	)		const

utility method to get the desired speed to the first two wheels

Note: speed is expressed in rad/sec

Definition at line 443 of file motorcontrollers.cpp.

double getMaxTorque ( ) const

gets the maximum allowed torque of wheels

Note: this only reads the max torque of the first dof as methods of this class only allow to set all max torques at the same value

Definition at line 478 of file motorcontrollers.cpp.

void getSpeedLimits	(	QVector< double > &	minSpeeds,
		QVector< double > &	maxSpeeds
	)		const

gets the minimum and maximum velocities for each wheel

Note: speed is expressed in rad/sec

Definition at line 460 of file motorcontrollers.cpp.

void getSpeedLimits	(	double &	minSpeed1,
		double &	minSpeed2,
		double &	maxSpeed1,
		double &	maxSpeed2
	)		const

utility method to get the minimum and maximum velocities of the first two wheels

Note: speed is expressed in rad/sec

Definition at line 465 of file motorcontrollers.cpp.

void getSpeeds ( QVector< double > & speeds ) const

gets the current speed of the wheels

Note: speed is expressed in rad/sec

Definition at line 427 of file motorcontrollers.cpp.

void getSpeeds	(	double &	sp1,
		double &	sp2
	)		const

utility method to get the current speed to the first two wheels

Note: speed is expressed in rad/sec

Definition at line 434 of file motorcontrollers.cpp.

void setMaxTorque ( double maxTorque )

sets the maximum allowed torque of wheels

Definition at line 472 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 448 of file motorcontrollers.cpp.

Referenced by PhyEpuck::PhyEpuck(), PhyKhepera::PhyKhepera(), and PhyMarXbot::PhyMarXbot().

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 453 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 397 of file motorcontrollers.cpp.

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 409 of file motorcontrollers.cpp.

void update ( )

virtual

apply the velocities on the wheels

Implements MotorController.

Definition at line 391 of file motorcontrollers.cpp.

Referenced by PhyMarXbot::preUpdate(), PhyKhepera::preUpdate(), and PhyEpuck::preUpdate().

QVector<PhyDOF*>& wheels ( )

inline

return the wheels controlled

Definition at line 176 of file motorcontrollers.h.

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

worldsim/include/motorcontrollers.h
worldsim/src/motorcontrollers.cpp

WorldSim - 1.4.5

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation