laelaps::LaePowertrainAttr Class Reference

Powertrain attributes class. More...

#include <laePowertrain.h>

Public Member Functions
	LaePowertrainAttr ()
	Default constructor.
	LaePowertrainAttr (const LaePowertrainAttr &src)
	Copy constructor.
	~LaePowertrainAttr ()
	Destructor.
LaePowertrainAttr	operator= (const LaePowertrainAttr &rhs)
	Assignment operator. More...

Public Attributes
int	m_nMotorId
	motor id
int	m_nMotorCtlrId
	motor controller id
int	m_nMotorIndex
	motor controller unique motor index
int	m_nMotorDir
	motor normalized direction
int	m_eJointType
	joint type
uint_t	m_uPulsesPerRev
	encoder pulses per motor revolution
double	m_fGearRatio
	gear ratio
double	m_fMaxRps
	maximum rated output shaft rev/sec
uint_t	m_uMaxQpps
	maximum quadrature pulses/second rps
double	m_fMotorRadsPerPulse
	motor radians per encoder pulse
double	m_fWheelRadsPerPulse
	output shaft radians per encoder pulse
double	m_fMaxAmps
	maximum rated amps
double	m_fStallTorque
	stall torque amps
double	m_fTireRadius
	tire radius
double	m_fTireWidth
	tire width
double	m_fMetersPerPulse
	tire meters per encoder pulse
double	m_fMetersPerRadian
	tire meters per radian

Detailed Description

Powertrain attributes class.

This class encapsulates the semi-fixed attribute data defining the characteristics of a powertrain.

Definition at line 76 of file laePowertrain.h.

Member Function Documentation

LaePowertrainAttr LaePowertrainAttr::operator=

(

const LaePowertrainAttr &

rhs

)

Assignment operator.

Parameters

rhs	Right hand side object.

Returns

Returns copy of this.

Definition at line 128 of file laePowertrain.cxx.

References m_eJointType, m_fGearRatio, m_fMaxAmps, m_fMaxRps, m_fMetersPerPulse, m_fMetersPerRadian, m_fMotorRadsPerPulse, m_fStallTorque, m_fTireRadius, m_fTireWidth, m_fWheelRadsPerPulse, m_nMotorCtlrId, m_nMotorDir, m_nMotorId, m_nMotorIndex, m_uMaxQpps, and m_uPulsesPerRev.

Referenced by laelaps::LaePowertrain::~LaePowertrain(), ~LaePowertrainAttr(), and laelaps::LaePowertrainState::~LaePowertrainState().

{
  // (derived) attributes
  m_nMotorId            = rhs.m_nMotorId;
  m_nMotorCtlrId        = rhs.m_nMotorCtlrId;
  m_nMotorIndex         = rhs.m_nMotorIndex;

  m_nMotorDir           = rhs.m_nMotorDir;
  m_eJointType          = rhs.m_eJointType;

  m_uPulsesPerRev       = rhs.m_uPulsesPerRev;
  m_fMaxRps             = rhs.m_fMaxRps;
  m_uMaxQpps            = rhs.m_uMaxQpps;
  m_fMotorRadsPerPulse  = rhs.m_fMotorRadsPerPulse;
  m_fGearRatio          = rhs.m_fGearRatio;
  m_fWheelRadsPerPulse  = rhs.m_fWheelRadsPerPulse;

  m_fMaxAmps            = rhs.m_fMaxAmps;
  m_fStallTorque        = rhs.m_fStallTorque;

  m_fTireRadius         = rhs.m_fTireRadius;
  m_fTireWidth          = rhs.m_fTireWidth;
  m_fMetersPerPulse     = rhs.m_fMetersPerPulse;
  m_fMetersPerRadian    = rhs.m_fMetersPerRadian;

  return *this;
}

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

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