laelaps::LaeRptDynPowertrain Class Reference

Powertrain dynamics subreport. More...

#include <laeReports.h>

Public Member Functions
	LaeRptDynPowertrain ()
	Default constructor.
	LaeRptDynPowertrain (const LaeRptDynPowertrain &src)
	Copy constructor.
	~LaeRptDynPowertrain ()
	Destructor.
LaeRptDynPowertrain	operator= (const LaeRptDynPowertrain &rhs)
	Assignment operator. More...
void	clear ()
	Clear report.
void	generate (int nMotorId)
	Generate report. More...

Public Attributes
std::string	m_strName
	powertrain unique name (key)
s64_t	m_nEncoder
	motor encoder position (quad pulses)
int	m_nSpeed
	raw speed (qpps)
double	m_fPosition
	wheel angular position (radians)
double	m_fVelocity
	wheel angular velocity (radians/second)
double	m_fPe
	motor input electrical power (W)
double	m_fTorque
	wheel torque (N-m)

Detailed Description

Powertrain dynamics subreport.

Definition at line 243 of file laeReports.h.

Member Function Documentation

void LaeRptDynPowertrain::generate

(

int

nMotorId

)

Generate report.

Parameters

nMotorId

Globally unique powertrain/motor id.

Definition at line 355 of file laeReports.cxx.

Referenced by laelaps::LaeRptDynamics::generate().

{
  m_strName   = LaeDesc::KeyPowertrain[nMotorId];
  m_nEncoder  = RtDb.m_kin.m_powertrain[nMotorId].m_nEncoder;
  m_nSpeed    = RtDb.m_kin.m_powertrain[nMotorId].m_nSpeed;
  m_fPosition = RtDb.m_kin.m_powertrain[nMotorId].m_fPosition;
  m_fVelocity = RtDb.m_kin.m_powertrain[nMotorId].m_fVelocity;
  m_fPe       = RtDb.m_kin.m_powertrain[nMotorId].m_fPe;
  m_fTorque   = RtDb.m_kin.m_powertrain[nMotorId].m_fTorque;
}

LaeRptDynPowertrain LaeRptDynPowertrain::operator=

(

const LaeRptDynPowertrain &

rhs

)

Assignment operator.

Parameters

rhs	Right hand side object.

Returns

Returns copy of this.

Definition at line 330 of file laeReports.cxx.

References m_fPe, m_fPosition, m_fTorque, m_fVelocity, m_nEncoder, m_nSpeed, and m_strName.

{
  m_strName   = rhs.m_strName;
  m_nEncoder  = rhs.m_nEncoder;
  m_nSpeed    = rhs.m_nSpeed;
  m_fPosition = rhs.m_fPosition;
  m_fVelocity = rhs.m_fVelocity;
  m_fPe       = rhs.m_fPe;
  m_fTorque   = rhs.m_fTorque;

  return *this;
}

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

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