player_actarray_actuatorgeom Struct Reference
#include <player_interfaces.h>
Collaboration diagram for player_actarray_actuatorgeom:
Detailed Description
Actuator geometry.
Definition at line 2968 of file player_interfaces.h.
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 length of this actuator's link to the next actuator.
For linear actuators, this should be its length when at 0 position.
Definition at line 2974 of file player_interfaces.h.
Referenced by P2OS::HandleConfig().
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).
Definition at line 2979 of file player_interfaces.h.
Referenced by P2OS::HandleConfig().
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.
Definition at line 2982 of file player_interfaces.h.
Referenced by P2OS::HandleConfig().
The documentation for this struct was generated from the following file: