Robotsystem from Robot Group Leipzig: AngularMotor Class Reference

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# AngularMotor Class Reference

`#include <angularmotor.h>`

Inheritance diagram for AngularMotor:

[legend]
List of all members.

## Detailed Description

Abstract angular motor class.

This is a wrapper for ODE's AMotor.

Definition at line 53 of file angularmotor.h.

## Public Member Functions
| AngularMotor (const OdeHandle &odeHandle, Joint *joint)
| creates a AMotor attached to the same bodies as the given joint.
virtual | ~AngularMotor ()
virtual int | getNumberOfAxes ()=0
| returns the number of Axis of this Motor
virtual void | set (int axisNumber, double velocity)=0
| sets the desired speed of the motor at the given axis.
virtual double | get (int axisNumber)=0
| returns the speed (PositionRate) at the given axis, or zero if the axis is out of range
virtual void | setPower (double power)=0
| sets the maximal force the motor has
virtual int | set (const double *velocities, int len)
| sets the desired speed of all motor.
virtual int | get (double *velocities, int len)
| returns the speed (PositionRate) of all axis
## Protected Attributes
dJointID | motor

## Constructor & Destructor Documentation

AngularMotor | ( | const OdeHandle & | odeHandle,
|  | Joint * | joint
| ) |

| creates a AMotor attached to the same bodies as the given joint. Definition at line 48 of file angularmotor.cpp.

virtual ~AngularMotor | ( |  | ) | `[inline, virtual]`

| Definition at line 58 of file angularmotor.h.

## Member Function Documentation

int get | ( | double * | velocities,
|  | int | len
| ) | `[virtual]`

  | returns the speed (PositionRate) of all axis Parameters:
  | velocities | double array to fill in the velocities
  | len | length of the given array
Returns: number actually returned velocities Definition at line 73 of file angularmotor.cpp.

virtual double get | ( | int | axisNumber | ) | `[pure virtual]`

| returns the speed (PositionRate) at the given axis, or zero if the axis is out of range Implemented in AngularMotor1Axis, AngularMotor2Axis, AngularMotor3AxisEuler, and AngularMotorNAxis.

virtual int getNumberOfAxes | ( |  | ) | `[pure virtual]`

| returns the number of Axis of this Motor Implemented in AngularMotor1Axis, AngularMotor2Axis, AngularMotor3AxisEuler, and AngularMotorNAxis.

int set | ( | const double * | velocities,
|  | int | len
| ) | `[virtual]`

  | sets the desired speed of all motor. Parameters:
  | velocities | double array with desired velocities
  | len | length of the given array
Returns: number actually returned velocities Definition at line 60 of file angularmotor.cpp.

virtual void set | ( | int | axisNumber,
|  | double | velocity
| ) | `[pure virtual]`

  | sets the desired speed of the motor at the given axis. Parameters:
  | velocity | Desired motor velocity (this will be an angular or linear velocity).
Implemented in AngularMotor1Axis, AngularMotor2Axis, AngularMotor3AxisEuler, and AngularMotorNAxis.

virtual void setPower | ( | double | power | ) | `[pure virtual]`

| sets the maximal force the motor has Implemented in AngularMotor1Axis, AngularMotor2Axis, AngularMotor3AxisEuler, and AngularMotorNAxis.

## Member Data Documentation

dJointID motor`[protected]`

| Definition at line 89 of file angularmotor.h.