actuator.h File Reference

Generic actuator control (measurement + actuation) functions. More...

#include "robot_control/robot_control.h"
#include <stdbool.h>

Go to the source code of this file.

Typedefs
typedef struct _ActuatorData	ActuatorData
	Single actuator internal data structure.
typedef ActuatorData *	Actuator
	Opaque reference to actuator internal data structure.

Functions
Actuator	Actuator_Init (const char *configName)
	Creates and initializes actuator data structure based on given information.
void	Actuator_End (Actuator actuator)
	Deallocates internal data of given actuator.
bool	Actuator_Enable (Actuator actuator)
	Allows motor output on given actuator.
void	Actuator_Disable (Actuator actuator)
	Prevents motor output on given actuator.
bool	Actuator_SetControlState (Actuator actuator, enum ControlState controlState)
	Calls underlying sensors implementations (plugins) to change measurement state.
bool	Actuator_GetMeasures (Actuator actuator, DoFVariables *ref_measures, double timeDelta)
	Reads sensors of given actuator.
double	Actuator_SetSetpoints (Actuator actuator, DoFVariables *ref_setpoints)
	Writes possible motor setpoint values for given actuator.

Detailed Description

Generic actuator control (measurement + actuation) functions.

Interface for configurable actuator control. Available configuration options are detailed in Actuator Configuration. Every actuator contains a single motor and a set of sensors combined with a Kalman filter for motion measurements (see Configuration Levels.

Function Documentation

Actuator_Disable()

void Actuator_Disable

(

Actuator

actuator

)

Prevents motor output on given actuator.

Parameters

[in]

actuator

reference to actuator

Actuator_Enable()

bool Actuator_Enable

(

Actuator

actuator

)

Allows motor output on given actuator.

Parameters

[in]

actuator

reference to actuator

Returns

true on enabled output, false otherwise

Actuator_End()

void Actuator_End

(

Actuator

actuator

)

Deallocates internal data of given actuator.

Parameters

[in]

actuator

reference to actuator

Actuator_GetMeasures()

bool Actuator_GetMeasures	(	Actuator	actuator,
		DoFVariables *	ref_measures,
		double	timeDelta )

Reads sensors of given actuator.

Parameters

[in]	actuator	reference to actuator
[out]	ref_measures	pointer to variables structure where values will be stored
[in]	timeDelta	time passed between measurements for sensor filtering/fusion state prediction

Returns

true if new measurements were taken, false otherwise

Actuator_Init()

Actuator Actuator_Init

(

const char *

configName

)

Creates and initializes actuator data structure based on given information.

Parameters

[in]

configName

name of file containing configuration parameters, as explained at Actuator Configuration

Returns

reference/pointer to newly created and initialized actuator data structure

Actuator_SetControlState()

bool Actuator_SetControlState	(	Actuator	actuator,
		enum ControlState	controlState )

Calls underlying sensors implementations (plugins) to change measurement state.

Parameters

[in]	actuator	reference to actuator
[in]	controlState	new control state to be set

Returns

true if control state was changed, false otherwise

Actuator_SetSetpoints()

double Actuator_SetSetpoints	(	Actuator	actuator,
		DoFVariables *	ref_setpoints )

Writes possible motor setpoint values for given actuator.

Parameters

[in]	actuator	reference to actuator
[in]	ref_setpoints	pointer/reference to variables structure with the new setpoints

Returns

control action applied on motor of given actuator (control variable specified in Actuator Configuration)