player_actarray_actuatorgeom Struct Reference

Actuator geometry. More...

#include <player_interfaces.h>

Collaboration diagram for player_actarray_actuatorgeom:

List of all members.


Detailed Description

Actuator geometry.

Public Attributes

uint8_t type
 The type of the actuator - linear or rotary.
float length
 The length of this actuator's link to the next actuator.
player_orientation_3d_t orientation
 The orientation of this actuator when it is in its rest position.
player_point_3d_t axis
 The axis of rotation for this actuator if it is rotary, or axis along which it moves if it is linear.
float min
 The range of motion of the actuator, in m or rad depending on the type.
float centre
 The range of motion of the actuator, in m or rad depending on the type.
float max
 The range of motion of the actuator, in m or rad depending on the type.
float home
 The range of motion of the actuator, in m or rad depending on the type.
float config_speed
 The configured speed setting of the actuator - different from current speed.
uint8_t hasbrakes
 If the actuator has brakes or not.

Member Data Documentation

The axis of rotation for this actuator if it is rotary, or axis along which it moves if it is linear.

In both cases, it is a vector.

The range of motion of the actuator, in m or rad depending on the type.

The configured speed setting of the actuator - different from current speed.

If the actuator has brakes or not.

The range of motion of the actuator, in m or rad depending on the type.

The length of this actuator's link to the next actuator.

For linear actuators, this should be its length when at 0 position.

The range of motion of the actuator, in m or rad depending on the type.

The range of motion of the actuator, in m or rad depending on the type.

The orientation of this actuator when it is in its rest position.

When combined with the length of the actuator's link, this will give the position in space of the next actuator in the array in the coordinate space of this actuator (i.e., it is the direction to the next actuator).

The type of the actuator - linear or rotary.


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