motors¶

class jiminy::AbstractMotorBase : public std::enable_shared_from_this<AbstractMotorBase>¶

Subclassed by jiminy::SimpleMotor

Public Functions

inline virtual configHolder_t getDefaultMotorOptions(void)¶: Dictionary gathering the configuration options shared between motors.

AbstractMotorBase(AbstractMotorBase const &abstractMotor) = delete¶: Forbid the copy of the class.

AbstractMotorBase &operator=(AbstractMotorBase const &other) = delete¶

AbstractMotorBase(std::string const &name)¶

Constructor.

Parameters

robot – [in] Robot
name – [in] Name of the motor

virtual ~AbstractMotorBase(void)¶

virtual hresult_t refreshProxies(void)¶

Refresh the proxies.

Remark: This method is not intended to be called manually. The Robot to which the motor is added is taking care of it when its own refresh method is called.

virtual hresult_t resetAll(void)¶

Reset the internal state of the motors.

This method resets the internal state of the motor.

Remark: This method is not intended to be called manually. The Robot to which the motor is added is taking care of it when its own reset method is called.

configHolder_t getOptions(void) const¶

Get the configuration options of the motor.

Returns: Dictionary with the parameters of the motor

float64_t const &get(void) const¶: Get the actual effort of the motor at the current time.

vectorN_t const &getAll(void) const¶: Get the actual effort of all the motors at the current time.

virtual hresult_t setOptions(configHolder_t const &motorOptions)¶

Set the configuration options of the motor.

Parameters: motorOptions – [in] Dictionary with the parameters of the motor

hresult_t setOptionsAll(configHolder_t const &motorOptions)¶

Set the same configuration options for every motors.

Parameters: motorOptions – [in] Dictionary with the parameters used for any motor

bool_t const &getIsInitialized(void) const¶

Get isInitialized_.

It is a flag used to determine if the motor has been initialized.

std::string const &getName(void) const¶

Get name_.

It is the name of the motor.

std::size_t const &getIdx(void) const¶

Get motorIdx_.

It is the index of the motor.

std::string const &getJointName(void) const¶

Get jointName_.

It is the name of the joint associated with the motor.

jointIndex_t const &getJointModelIdx(void) const¶

Get jointModelIdx_.

It is the index of the joint associated with the motor in the kinematic tree.

joint_t const &getJointType(void) const¶

Get jointType_.

It is the type of joint associated with the motor.

int32_t const &getJointPositionIdx(void) const¶

Get jointPositionIdx_.

It is the index of the joint associated with the motor in the configuration vector.

int32_t const &getJointVelocityIdx(void) const¶

Get jointVelocityIdx_.

It is the index of the joint associated with the motor in the velocity vector.

float64_t const &getCommandLimit(void) const¶

Get commandLimit_.

It is the maximum effort of the motor.

float64_t const &getArmature(void) const¶

Get armature_.

It is the rotor inertia of the motor.

virtual hresult_t computeEffort(float64_t const &t, Eigen::VectorBlock<vectorN_t const> const &q, float64_t const &v, float64_t const &a, float64_t command) = 0¶

Request the motor to update its actual effort based of the input data.

It assumes that the internal state of the robot is consistent with the input arguments.

Parameters

t – [in] Current time.
q – [in] Current configuration of the motor.
v – [in] Current velocity of the motor.
a – [in] Current acceleration of the motor.
command – [in] Current command effort of the motor.

hresult_t computeEffortAll(float64_t const &t, vectorN_t const &q, vectorN_t const &v, vectorN_t const &a, vectorN_t const &command)¶

Request every motors to update their actual effort based of the input data.

It assumes that the internal state of the robot is consistent with the input arguments.

Remark: This method is not intended to be called manually. The Robot to which the motor is added is taking care of it while updating the state of the motors.

Parameters

t – [in] Current time.
q – [in] Current configuration vector of the robot.
v – [in] Current velocity vector of the robot.
a – [in] Current acceleration vector of the robot.
command – [in] Current command effort vector of the robot.

Returns

Return code to determine whether the execution of the method was successful.

Public Members

std::unique_ptr<abstractMotorOptions_t const> baseMotorOptions_¶: Structure with the parameters of the motor.

struct abstractMotorOptions_t¶

Subclassed by jiminy::SimpleMotor::motorOptions_t

Public Functions

inline abstractMotorOptions_t(configHolder_t const &options)¶

Public Members

float64_t const mechanicalReduction¶: Mechanical reduction ratio of the transmission (joint / motor, usually >= 1.0.

bool_t const enableCommandLimit¶

bool_t const commandLimitFromUrdf¶

float64_t const commandLimit¶

bool_t const enableArmature¶

float64_t const armature¶

class jiminy::SimpleMotor : public jiminy::AbstractMotorBase ¶

Public Functions

inline virtual configHolder_t getDefaultMotorOptions(void) override¶: Dictionary gathering the configuration options shared between motors.

SimpleMotor(std::string const &name)¶

virtual ~SimpleMotor(void) = default¶

inline auto shared_from_this()¶

inline auto shared_from_this() const¶

hresult_t initialize(std::string const &jointName)¶

virtual hresult_t setOptions(configHolder_t const &motorOptions) final override¶

Set the configuration options of the motor.

Parameters: motorOptions – [in] Dictionary with the parameters of the motor

struct motorOptions_t : public jiminy::AbstractMotorBase::abstractMotorOptions_t ¶

Public Functions

inline motorOptions_t(configHolder_t const &options)¶

Public Members

bool_t const enableFriction¶: Flag to enable the joint friction. It is always negative.

float64_t const frictionViscousPositive¶: Viscous coefficient of the joint friction for positive velocity. It is always negative.

float64_t const frictionViscousNegative¶: Viscous coefficient of the joint friction for negative velocity. It is always negative.

float64_t const frictionDryPositive¶: Dry coefficient of the joint friction for positive velocity, which corresponds to the positive dry friction at saturation. It is always negative.

float64_t const frictionDryNegative¶: Dry coefficient of the joint friction for negative velocity, which corresponds to the negative dry friction at saturation. It is always negative.

float64_t const frictionDrySlope¶: Slope of the Tanh of the joint velocity that saturate the dry friction at frictionDry. It is always positive (no dry friction when equal to zero).