OpenRTM-aist IDL  1.1
Public Attributes | List of all members
RTC::ActArrayActuatorGeometry Struct Reference

Describes the geometry of an individual actuator. More...

import"InterfaceDataTypes.idl";

Public Attributes

ActArrayActuatorType type
 Type of the actuator. More...
 
double length
 
Orientation3D orientation
 
Vector3D axis
 The axis of rotation for this actuator if it is rotary, or axis along which it moves if it is linear. More...
 
double minRange
 Minimum range of motion of the actuator, in metres or radians. More...
 
double centre
 Centre point of the actuator's range of motion, in metres or radians. More...
 
double maxRange
 Maximum range of motion of the actuator, in metres or radians. More...
 
double homePosition
 Home position of the actuator, in metres or radians. More...
 
boolean hasBrakes
 True if the actuator has brakes. More...
 

Detailed Description

Describes the geometry of an individual actuator.

Member Data Documentation

◆ axis

Vector3D RTC::ActArrayActuatorGeometry::axis

The axis of rotation for this actuator if it is rotary, or axis along which it moves if it is linear.

◆ centre

double RTC::ActArrayActuatorGeometry::centre

Centre point of the actuator's range of motion, in metres or radians.

◆ hasBrakes

boolean RTC::ActArrayActuatorGeometry::hasBrakes

True if the actuator has brakes.

◆ homePosition

double RTC::ActArrayActuatorGeometry::homePosition

Home position of the actuator, in metres or radians.

◆ length

double RTC::ActArrayActuatorGeometry::length

Lenght of the actuator's link to the next actuator. For linear actuators, this is the length when at 0 position.

◆ maxRange

double RTC::ActArrayActuatorGeometry::maxRange

Maximum range of motion of the actuator, in metres or radians.

◆ minRange

double RTC::ActArrayActuatorGeometry::minRange

Minimum range of motion of the actuator, in metres or radians.

◆ orientation

Orientation3D RTC::ActArrayActuatorGeometry::orientation

Orientation of the 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).

◆ type

ActArrayActuatorType RTC::ActArrayActuatorGeometry::type

Type of the actuator.


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