laelaps::LaeDescPowertrain Class Reference

Robotic powertrain description. More...

#include <laeDesc.h>

Public Member Functions
	LaeDescPowertrain ()
	Default constructor.
	LaeDescPowertrain (const std::string &strKey)
	Initialization constructor.
virtual	~LaeDescPowertrain ()
	Destructor.
LaeDescPowertrain	operator= (const LaeDescPowertrain &rhs)
	Assignment operator. More...
void	clear ()
	Clear description.
virtual void	print (int indent=0)
	Print out description to stdout. More...

Public Attributes
std::string	m_strKey
	powertrain key
int	m_nMotorId
	unique robot motor id
int	m_nMotorCtlrId
	unique motor controller id
int	m_nMotorIndex
	motor controller unique motor index
LaeJointType	m_eJointType
	powertrain joint type
LaeEncType	m_eEncType
	encoder type
double	m_fGearRatio
	motor gear ratio
int	m_nDir
	normalize cw/ccw direction.

Detailed Description

Robotic powertrain description.

A powertrain includes the motor and drivetrain. The drivetrain is the group of components that deliver power to the driving wheel(s) including encoders, gears, axles, wheels, and tires.

Definition at line 177 of file laeDesc.h.

Member Function Documentation

LaeDescPowertrain LaeDescPowertrain::operator=

(

const LaeDescPowertrain &

rhs

)

Assignment operator.

Parameters

rhs	Right hand side object.

Returns

this.

Definition at line 255 of file laeDesc.cxx.

References m_eEncType, m_eJointType, m_fGearRatio, m_nDir, m_nMotorCtlrId, m_nMotorId, m_nMotorIndex, laelaps::LaeDescBase::m_strKey, and m_strKey.

{
  m_strKey        = rhs.m_strKey;
  m_nMotorId      = rhs.m_nMotorId;
  m_nMotorCtlrId  = rhs.m_nMotorCtlrId;
  m_nMotorIndex   = rhs.m_nMotorIndex;
  m_eJointType    = rhs.m_eJointType;
  m_eEncType      = rhs.m_eEncType;
  m_fGearRatio    = rhs.m_fGearRatio;
  m_nDir          = rhs.m_nDir;

  return *this;
}

void LaeDescPowertrain::print ( int  indent = 0 )

virtual

Print out description to stdout.

Parameters

indent

Left indentation.

Definition at line 281 of file laeDesc.cxx.

References laelaps::LaeDescBase::m_strKey.

{
  printf("%*sPowertrain[%s] Description =\n", indent, "", m_strKey.c_str());
  printf("%*s{\n", indent, "");
  printf("%*sKey           = %s\n", indent+2, "", m_strKey.c_str());
  printf("%*sMotor Id      = %d\n", indent+2, "", m_nMotorId);
  printf("%*sMotor Ctlr Id = %d\n", indent+2, "", m_nMotorCtlrId);
  printf("%*sMotor Index   = %d\n", indent+2, "", m_nMotorIndex);
  printf("%*sJoint Type    = %d\n", indent+2, "", m_eJointType);
  printf("%*sEncoder Type  = 0x%02x\n", indent+2, "", m_eEncType);
  printf("%*sDirection     = %d\n", indent+2, "", m_nDir);
  printf("%*s}\n", indent, "");
}

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

• include/Laelaps/laeDesc.h
• sw/liblaelaps/laeDesc.cxx