Detailed Description

Actuator geometry.

Public Attributes
uint8_t	type
	The type of the actuator - linear or rotary. More...

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

player_orientation_3d_t	orientation
	The orientation of this actuator when it is in its rest position. More...

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. More...

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

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

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

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

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

uint8_t	hasbrakes
	If the actuator has brakes or not. More...

Member Data Documentation

◆ axis

player_point_3d_t player_actarray_actuatorgeom::axis

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.

Referenced by P2OS::ProcessMessage().

◆ centre

float player_actarray_actuatorgeom::centre

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

Referenced by P2OS::ProcessMessage().

◆ config_speed

float player_actarray_actuatorgeom::config_speed

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

Referenced by P2OS::ProcessMessage().

◆ hasbrakes

uint8_t player_actarray_actuatorgeom::hasbrakes

If the actuator has brakes or not.

Referenced by P2OS::ProcessMessage().

◆ home

float player_actarray_actuatorgeom::home

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

Referenced by P2OS::ProcessMessage().

◆ length

float player_actarray_actuatorgeom::length

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

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

Referenced by P2OS::ProcessMessage().

◆ max

float player_actarray_actuatorgeom::max

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

Referenced by P2OS::ProcessMessage().

◆ min

float player_actarray_actuatorgeom::min

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

Referenced by P2OS::ProcessMessage().

◆ orientation

player_orientation_3d_t player_actarray_actuatorgeom::orientation

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).

Referenced by P2OS::ProcessMessage().