player_actarray_actuatorgeom Struct Reference

Actuator geometry. More...

`#include <player_interfaces.h>`

## Public Attributes

uint8_t | type
| The type of the actuator - linear or rotary. More...
float | length
| The length of this actuator's link to the next actuator. More...
player_orientation_3d_t | orientation
| The orientation of this actuator when it is in its rest position. More...
player_point_3d_t | axis
| The axis of rotation for this actuator if it is rotary, or axis along which it moves if it is linear. More...
float | min
| The range of motion of the actuator, in m or rad depending on the type. More...
float | centre
| The range of motion of the actuator, in m or rad depending on the type. More...
float | max
| The range of motion of the actuator, in m or rad depending on the type. More...
float | home
| The range of motion of the actuator, in m or rad depending on the type. More...
float | config_speed
| The configured speed setting of the actuator - different from current speed. More...
uint8_t | hasbrakes
| If the actuator has brakes or not. More...

## Detailed Description

Actuator geometry.

## Member Data Documentation

player_point_3d_t player_actarray_actuatorgeom::axis

The axis of rotation for this actuator if it is rotary, or axis along which it moves if it is linear.

In both cases, it is a vector.

float player_actarray_actuatorgeom::centre

The range of motion of the actuator, in m or rad depending on the type.

float player_actarray_actuatorgeom::config_speed

The configured speed setting of the actuator - different from current speed.

uint8_t player_actarray_actuatorgeom::hasbrakes

If the actuator has brakes or not.

float player_actarray_actuatorgeom::home

The range of motion of the actuator, in m or rad depending on the type.

float player_actarray_actuatorgeom::length

The length of this actuator's link to the next actuator.

For linear actuators, this should be its length when at 0 position.

float player_actarray_actuatorgeom::max

The range of motion of the actuator, in m or rad depending on the type.

float player_actarray_actuatorgeom::min

The range of motion of the actuator, in m or rad depending on the type.

player_orientation_3d_t player_actarray_actuatorgeom::orientation

The orientation of this actuator when it is in its rest position.

When combined with the length of the actuator's link, this will give the position in space of the next actuator in the array in the coordinate space of this actuator (i.e., it is the direction to the next actuator).

uint8_t player_actarray_actuatorgeom::type

The type of the actuator - linear or rotary.

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

- player_interfaces.h

Last updated 12 September 2005 21:38:45