##

ActuatorProperties Class Reference

Properties for a model of a rotational actuator. More...

`#include <ActuatorPlugin.hh>`

## Public Attributes

int | jointIndex
| Which joint index is actuated by this actuator. More...
float | maximumTorque
| Maximum torque of the actuator (Newton-meters) More...
float | maximumVelocity
| Maximum velocity of the actuator (radians per second) More...
std::function< float(float, float, const ActuatorProperties &)> | modelFunction
| Function used to calculate motor output. More...
std::string | name
| An identifier for the actuator. More...
float | power
| Mechanical power output of the actuator (Watts) More...

## Detailed Description

Properties for a model of a rotational actuator.

## Member Data Documentation

## jointIndex

int jointIndex

Which joint index is actuated by this actuator.

## maximumTorque

float maximumTorque

Maximum torque of the actuator (Newton-meters)

## maximumVelocity

float maximumVelocity

Maximum velocity of the actuator (radians per second)

## modelFunction

std::function<float (float, float, const ActuatorProperties&)> modelFunction

Function used to calculate motor output.

Parameters

  [in] | float1 | Input velocity.
  [in] | float2 | Input torque.
  [in] | ActuatorProperties | Static properties of this actuator

Returns
  Torque according to the model.

## name

std::string name

An identifier for the actuator.

## power

float power

Mechanical power output of the actuator (Watts)

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

- ActuatorPlugin.hh