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tgKinematicActuator::Config Struct Reference
Inheritance diagram for tgKinematicActuator::Config:
Collaboration diagram for tgKinematicActuator::Config:

Public Member Functions

 Config (double s=1000.0, double d=10.0, double p=0.0, double rad=1.0, double moFric=0.0, double moInert=1.0, bool back=false, bool h=false, double mf=1000.0, double tVel=100.0, double mnAL=0.1, double mnRL=0.1, double rot=0)
void scale (double sf)

Public Attributes

double radius
double motorFriction
double motorInertia
bool backdrivable
double maxOmega
double maxTorque
double stiffness
double damping
double pretension
bool hist
double maxTens
double targetVelocity
double minActualLength
double minRestLength
double rotation
bool moveCablePointAToEdge
bool moveCablePointBToEdge

Detailed Description

Definition at line 43 of file tgKinematicActuator.h.

Member Function Documentation

void tgKinematicActuator::Config::scale ( double  sf)

Scale parameters that depend on the length of the simulation. Centemeter scale has been used throughout many of the demos, so those assumptions are baked into the default parameters.

Member Data Documentation

bool tgKinematicActuator::Config::backdrivable

Should probably have friction if this is true

Definition at line 88 of file tgKinematicActuator.h.

double tgSpringCableActuator::Config::damping

Specifies the damping (b) term in the linear force equation. Units are mass / seconds Must be non-negative. Similar to stiffness in usage

Definition at line 92 of file tgSpringCableActuator.h.

bool tgSpringCableActuator::Config::hist

Specifies whether data such as length and tension will be stored in deque objects. Useful for computing the energy of a trial.

Definition at line 107 of file tgSpringCableActuator.h.

double tgKinematicActuator::Config::maxOmega

Convience values calculated from other values

Definition at line 92 of file tgKinematicActuator.h.

double tgSpringCableActuator::Config::maxTens

The parameters that affect how the string can be controlled. Enforces a flat torque (force) speed curve with tgBasicActuator, and a linear torque speed curve with tgKinematicActuator Maximum tension that the motor can exert. String will not shorten if this threshold is exceeded, but the tension can still be increased by other members. Units are force (length * mass / seconds^2) Must be nonnegative.

Definition at line 123 of file tgSpringCableActuator.h.

double tgSpringCableActuator::Config::minActualLength

Actual length below which motor ceases to shorten. Units are length Must be nonnegative

Definition at line 137 of file tgSpringCableActuator.h.

double tgSpringCableActuator::Config::minRestLength

Rest length below which motor ceases to shorten Units are length Must be nonnegative

Definition at line 144 of file tgSpringCableActuator.h.

double tgKinematicActuator::Config::motorFriction

This has units of length^2 * mass / sec as it gets multiplied by speed when added to d-omega/dt Therefore this is really a damping coefficent (B) not the unitless (mu)

Definition at line 77 of file tgKinematicActuator.h.

double tgKinematicActuator::Config::motorInertia

This has units of mass * length^2. If this and r are both 1 its effectively a linear actuator

Definition at line 83 of file tgKinematicActuator.h.

bool tgSpringCableActuator::Config::moveCablePointAToEdge

Control the automatic re-locating of cable anchor points.

When true, the default behavior, the specified attachment point of a cable is moved from the actual node location (for example, at the center of the circle at the end of a rod) to a location at the edge of the rigid body it's attached to (for example, on the edge of the circle at the end of a rod.)

If unsure, leave default, because when set to 'false', the cable will likely clip through the rod. Disabling automatic movement of anchor points is most useful for structures that need very particular cable placement. Here, cable attachment point "A" corresponds to the first of the two anchors of the spring-cable, or the "From" point in the tgcreator files. The "B" point corresponds to the second anchor location, or the "To" point in the tgcreator files.

These parameters are used in the createTgBulletSpringCable method inside the tgBasicActuatorInfo class.

Definition at line 176 of file tgSpringCableActuator.h.

double tgSpringCableActuator::Config::pretension

Specifies the amount of tension (in units of force) in the string at construction. Adjusts the rest length, Must be low enough (based on stiffness) to leave the rest length non-negitive

Definition at line 100 of file tgSpringCableActuator.h.

double tgKinematicActuator::Config::radius

Units of length

Definition at line 69 of file tgKinematicActuator.h.

double tgSpringCableActuator::Config::rotation

Specifies the rotation around the face of the object its attached to. +/- PI is the most meaningful. absolute value must be < 2 * PI Units are radians.

Is this meaningful for non-rod shapes?

Definition at line 153 of file tgSpringCableActuator.h.

double tgSpringCableActuator::Config::stiffness

Linear Hookean stiffness of the string (k). Must be non-negative. Upper limit depends on the timestep - stiffer springs will require a lower timestep. Used in Muscle2P, tensionMinLengthController, moveMotors (to enforce max force constraints) Units are mass / seconds^2

Definition at line 86 of file tgSpringCableActuator.h.

double tgSpringCableActuator::Config::targetVelocity

Maximum velocity of the motor, usage in moveMotors Units are length/seconds Must be nonnegative.

Definition at line 130 of file tgSpringCableActuator.h.

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