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alrobotmodel 2.8.7.4

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alrobotmodel.h
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1
5 #ifndef ALROBOTMODEL_H
6 #define ALROBOTMODEL_H
7
8 #include <almath/types/altransform.h>
9 #include <almath/types/alposition3d.h>
10 #include <string>
11
12 #include <qi/macro.hpp>
13
14 #ifdef alrobotmodel_EXPORTS
15 # define ALROBOTMODEL_API QI_EXPORT_API
16 #elif defined(alrobotmodel_IMPORTS)
17 # define ALROBOTMODEL_API QI_IMPORT_API
18 #else
19 # define ALROBOTMODEL_API
20 #endif
21
22 namespace Sim
23 {
24
25 class Actuator;
26 class ActuatorGroup;
27 class AngleActuator;
28 class AngleSensor;
29 class AngleSpeedActuator;
30 class AngleSpeedSensor;
31 class ArrayDepthSensor;
32 class BumperSensor;
33 class CameraSensor;
34 class CameraStereoSensor;
35 class CameraDepthSensor;
36 class CoupledActuator;
37 class CoupledSensor;
38 class FSRSensor;
39 class InertialSensor;
40 class SonarSensor;
41 class TactileSensor;
42 class LEDActuator;
43 class MicrophoneSensor;
44 class Joint;
45 class JointGroup;
46 class JointSymmetry;
47 class Link;
48 class Sensor;
49 class SingleDepthSensor;
50 class TorqueActuator;
51 class TorqueSensor;
52 class WheelTorqueActuator;
53 class WheelVelocityActuator;
54 class WheelVelocitySensor;
55
56 typedef SingleDepthSensor DepthInfraredSensor;
57
60 class ALROBOTMODEL_API Model
61 {
62 public:
63
68 Model(const std::string& pathToModel);
70 ~Model();
71
74 const std::string& name() const;
75
80 std::string prettyName(int verbosity = 0) const;
81
84 const std::string& configFile() const;
85
88 std::vector<const Joint*> joints() const;
91 const Joint* joint(const std::string& jointName) const;
92
95 std::vector<const JointSymmetry*> jointSymmetries() const;
98 const JointSymmetry* jointSymmetry(const std::string& jointName) const;
99
102 std::vector<const JointGroup*> jointGroups() const;
105 const JointGroup* jointGroup(const std::string& jointGroupName) const;
110 std::vector<const JointGroup*>
111 jointGroupsOfJoint(const std::string& jointName) const;
112
115 std::vector<const Link*> links() const;
118 const Link* link(const std::string& linkName) const;
122 const Link* rootLink() const;
123
126 std::vector<const Actuator*> actuators() const;
129 const Actuator* actuator(const std::string& actuatorName) const;
130
133 std::vector<const ActuatorGroup*> actuatorGroups() const;
136 const ActuatorGroup* actuatorGroup(
137 const std::string& actuatorGroupName) const;
143 std::vector<const ActuatorGroup*>
144 actuatorGroupsOfJoint(const std::string& jointName) const;
145
148 std::vector<const AngleActuator*> angleActuators() const;
151 const AngleActuator* angleActuator(const std::string& actuatorName) const;
152
155 std::vector<const CoupledActuator*> coupledActuators() const;
158 const CoupledActuator* coupledActuator(
159 const std::string& actuatorName) const;
160
163 std::vector<const TorqueActuator*> torqueActuators() const;
166 const TorqueActuator* torqueActuator(
167 const std::string& actuatorName) const;
168
171 std::vector<const AngleSpeedActuator*> angleSpeedActuators() const;
174 const AngleSpeedActuator* angleSpeedActuator(
175 const std::string& actuatorName) const;
176
179 std::vector<const WheelTorqueActuator*> wheelTorqueActuators() const;
182 const WheelTorqueActuator* wheelTorqueActuator(
183 const std::string& actuatorName) const;
184
187 std::vector<const WheelVelocityActuator*> wheelVelocityActuators() const;
190 const WheelVelocityActuator* wheelVelocityActuator(
191 const std::string& actuatorName) const;
192
197 std::vector<const LEDActuator*> ledActuators(
198 const std::string& groupName = std::string()) const;
201 const LEDActuator* ledActuator(const std::string& actuatorName) const;
202
205 std::vector<const Sensor*> sensors() const;
208 const Sensor* sensor(const std::string& sensorName) const;
209
212 std::vector<const AngleSensor*> angleSensors() const;
215 const AngleSensor* angleSensor(const std::string& sensorName) const;
216
219 std::vector<const CoupledSensor*> coupledSensors() const;
222 const CoupledSensor* coupledSensor(const std::string& sensorName) const;
223
226 std::vector<const TorqueSensor*> torqueSensors() const;
229 const TorqueSensor* torqueSensor(const std::string& sensorName) const;
230
233 std::vector<const AngleSpeedSensor*> angleSpeedSensors() const;
236 const AngleSpeedSensor* angleSpeedSensor(
237 const std::string& sensorName) const;
238
241 std::vector<const WheelVelocitySensor*> wheelVelocitySensors() const;
244 const WheelVelocitySensor* wheelVelocitySensor(
245 const std::string& sensorName) const;
246
249 std::vector<const CameraSensor*> cameraSensors() const;
252 const CameraSensor* cameraSensor(const std::string& sensorName) const;
253
256 std::vector<const CameraStereoSensor*> cameraStereoSensors() const;
259 const CameraStereoSensor* cameraStereoSensor(
260 const std::string& sensorName) const;
261
264 std::vector<const CameraDepthSensor*> cameraDepthSensors() const;
267 const CameraDepthSensor* cameraDepthSensor(
268 const std::string& sensorName) const;
269
272 std::vector<const FSRSensor*> fsrSensors() const;
275 const FSRSensor* fsrSensor(const std::string& sensorName) const;
276
279 std::vector<const InertialSensor*> inertialSensors() const;
282 const InertialSensor* inertialSensor(const std::string& sensorName) const;
283
286 std::vector<const SonarSensor*> sonarSensors() const;
289 const SonarSensor* sonarSensor(const std::string& sensorName) const;
290
293 std::vector<const BumperSensor*> bumperSensors() const;
296 const BumperSensor* bumperSensor(const std::string& sensorName) const;
297
300 std::vector<const TactileSensor*> tactileSensors() const;
303 const TactileSensor* tactileSensor(const std::string& sensorName) const;
304
307 std::vector<const SingleDepthSensor*> singleDepthSensors() const;
310 const SingleDepthSensor* singleDepthSensor(
311 const std::string& sensorName) const;
312
315 std::vector<const ArrayDepthSensor*> arrayDepthSensors() const;
318 const ArrayDepthSensor* arrayDepthSensor(
319 const std::string& sensorName) const;
320
324 std::vector<const DepthInfraredSensor*> depthInfraredSensors() const;
328 const DepthInfraredSensor* depthInfraredSensor(
329 const std::string& sensorName) const;
330
333 std::vector<const MicrophoneSensor*> microphoneSensors() const;
336 const MicrophoneSensor* microphoneSensor(
337 const std::string& sensorName) const;
338
340 class ModelImpl* a_impl;
341 };
342
345 class ALROBOTMODEL_API JointSymmetry
346 {
347
348 public:
349
353 JointSymmetry();
354
356 ~JointSymmetry();
357
359 enum SymmetryType
360 {
361 MIRROR_SYM,
362 MIRROR_ANTISYM,
363 };
364
366 std::pair<const Joint*, const Joint*> symmetricJoints() const;
367
369 const Joint* symmetricJoint(const Joint* joint) const;
370
372 SymmetryType symmetryType() const;
373
375 class JointSymmetryImpl* a_impl;
376
377 };
378
382 class ALROBOTMODEL_API JointGroup
383 {
384
385 public:
386
390 JointGroup();
391
393 ~JointGroup();
394
396 const std::string& name() const;
397
399 std::vector<const Joint*> joints() const;
400
402 class JointGroupImpl* a_impl;
403 };
404
407 class ALROBOTMODEL_API Frame
408 {
409 public:
412 Frame();
414 ~Frame();
416 const std::string& name() const;
421 const AL::Math::Transform& position() const;
423 const Frame* parentFrame() const;
427 const AL::Math::Transform& localPosition() const;
432 static AL::Math::Transform globalPosition(
433 const Frame* frame);
435 class FrameImpl* a_impl;
436 };
437
440 class ALROBOTMODEL_API Joint
441 {
442 public:
445 Joint();
447 ~Joint();
451 const Frame* frame() const;
453 const std::string& name() const;
458 const Link* parentLink() const;
463 const Link* childLink() const;
465 class JointImpl* a_impl;
466 };
467
471 ALROBOTMODEL_API bool frictionCoeff(
472 const std::string& frictionMaterial1,
473 const std::string& frictionMaterial2,
474 float& frictionCoeff);
475
479 class ALROBOTMODEL_API MassData
480 {
481 public:
485 MassData();
487 virtual ~MassData();
489 float mass() const;
494 const AL::Math::Position3D& CoM() const;
497 const std::vector<float>& inertiaMatrix() const;
499 class MassDataImpl* a_impl;
500 };
501
505 class ALROBOTMODEL_API VisualData
506 {
507 public:
511 VisualData();
513 virtual ~VisualData();
520 const std::string& meshPath() const;
523 const AL::Math::Transform& meshTransform() const;
525 class VisualDataImpl* a_impl;
526 };
527
530 class ALROBOTMODEL_API Link
531 {
532 public:
535 enum LinkType
536 {
537 CLASSIC,
538 WHEEL_OMNI,
539 };
542 Link();
544 virtual ~Link();
550 const Frame* frame() const;
552 const std::string& name() const;
555 const Joint* parentJoint() const;
558 const std::vector<const Joint*> childrenJoints() const;
560 const MassData* mass() const;
562 const std::string& frictionMaterial() const;
564 const VisualData* visual() const;
566 LinkType type() const;
568 class LinkImpl* a_impl;
569 };
570
574 class ALROBOTMODEL_API Actuator
575 {
576 public:
578 enum Type
579 {
580 ANGLE_MOTOR,
581 COUPLED_MOTOR,
582 TORQUE_MOTOR,
583 ANGLE_SPEED_MOTOR,
584 WHEEL_TORQUE,
585 WHEEL_VELOCITY,
587 LED,
588
589 };
591 Actuator(class ActuatorImpl* impl);
593 Actuator(const Actuator& other);
595 ~Actuator();
597 const Frame* frame() const;
599 const virtual std::string& name() const;
601 Type type() const;
604 virtual int bufferSize() const = 0;
606 ActuatorImpl* a_impl;
607 };
608
612 class ALROBOTMODEL_API ActuatorGroup
613 {
614
615 public:
616
620 ActuatorGroup();
621
623 ~ActuatorGroup();
624
626 const std::string& name() const;
627
629 const ActuatorGroup * parent() const;
630
632 std::vector<const Actuator*> actuators() const;
633
635 class ActuatorGroupImpl* a_impl;
636
637 };
638
642 class ALROBOTMODEL_API DCMActuator: public Actuator
643 {
644 public:
646 DCMActuator(class DCMActuatorImpl* impl);
648 DCMActuator(const DCMActuator& other);
650 ~DCMActuator();
653 const std::vector<std::string>& dcmKeys() const;
656 virtual int bufferSize() const = 0;
657 };
658
662 class ALROBOTMODEL_API AngleActuator: public DCMActuator
663 {
664 public:
666 AngleActuator(class AngleActuatorImpl* impl);
668 AngleActuator(const AngleActuator& other);
670 ~AngleActuator();
673 const AngleActuator* reflectedSymmetric() const;
676 bool reflectedSymmetricReversed() const;
678 bool reflectionForced() const;
681 virtual int bufferSize() const;
683 float startValue() const;
685 float minValue() const;
687 float maxValue() const;
690 float maxSpeed() const;
692 const Joint* controlledJoint() const;
693 };
694
698 class ALROBOTMODEL_API CoupledActuator: public DCMActuator
699 {
700 public:
702 CoupledActuator(class CoupledActuatorImpl* impl);
704 CoupledActuator(const CoupledActuator& other);
706 ~CoupledActuator();
709 const CoupledActuator* reflectedSymmetric() const;
712 bool reflectedSymmetricReversed() const;
714 bool reflectionForced() const;
717 virtual int bufferSize() const;
720 float startValue() const;
723 float minValue() const;
726 float maxValue() const;
728 float maxSpeed() const;
731 std::vector<std::pair<const Joint*, float> >
732 controlledJointAndRatios() const;
733 };
734
738 class ALROBOTMODEL_API TorqueActuator: public DCMActuator
739 {
740 public:
742 TorqueActuator(class TorqueActuatorImpl* impl);
744 TorqueActuator(const TorqueActuator& other);
746 ~TorqueActuator();
749 const TorqueActuator* reflectedSymmetric() const;
752 bool reflectedSymmetricReversed() const;
755 virtual int bufferSize() const;
758 float startValue() const;
761 float minValue() const;
764 float maxValue() const;
766 const Joint* controlledJoint() const;
767 };
768
772 class ALROBOTMODEL_API AngleSpeedActuator: public DCMActuator
773 {
774 public:
776 AngleSpeedActuator(class AngleSpeedActuatorImpl* impl);
778 AngleSpeedActuator(const AngleSpeedActuator& other);
780 ~AngleSpeedActuator();
783 const AngleSpeedActuator* reflectedSymmetric() const;
786 bool reflectedSymmetricReversed() const;
789 virtual int bufferSize() const;
792 float startValue() const;
795 float minValue() const;
798 float maxValue() const;
800 const Joint* controlledJoint() const;
801 };
802
806 class ALROBOTMODEL_API WheelTorqueActuator: public DCMActuator
807 {
808 public:
810 WheelTorqueActuator(class WheelTorqueActuatorImpl* impl);
812 WheelTorqueActuator(const WheelTorqueActuator& other);
814 ~WheelTorqueActuator();
815 virtual int bufferSize() const;
817 // Newton per meter).
818 float maxTorque() const;
820 const Joint* controlledJoint() const;
821 };
822
826 class ALROBOTMODEL_API WheelVelocityActuator: public DCMActuator
827 {
828 public:
830 WheelVelocityActuator(class WheelVelocityActuatorImpl* impl);
832 WheelVelocityActuator(const WheelVelocityActuator& other);
834 ~WheelVelocityActuator();
837 virtual int bufferSize() const;
840 float maxVelocity() const;
842 const Joint* controlledJoint() const;
843 };
844
847 class ALROBOTMODEL_API LEDActuator: public DCMActuator
848 {
849 public:
851 enum Color
852 {
853 RED,
854 GREEN,
855 BLUE
856 };
857
858 public:
860 LEDActuator(class LEDActuatorImpl* impl);
862 LEDActuator(const LEDActuator& other);
864 ~LEDActuator();
867 virtual int bufferSize() const;
869 const std::string& shortname() const;
871 const std::vector<std::string>& groups() const;
873 Color color() const;
874 };
875
879 class ALROBOTMODEL_API Sensor
880 {
881 public:
883 enum Type
884 {
885 ANGLE,
886 COUPLED,
887 SONAR,
888 CAMERA,
889 FSR,
890 INERTIAL,
891 BUMPER,
892 TORQUE,
893 ANGLE_SPEED,
894 WHEEL_VELOCITY,
895 TACTILE,
896 DEPTH_INFRARED, // deprecated
897 SINGLE_DEPTH,
898 ARRAY_DEPTH,
899 CAMERA_DEPTH,
900 MICROPHONE,
906 };
910 Sensor();
912 ~Sensor();
914 const Frame* frame() const;
916 virtual const std::string& name() const;
918 Type type() const;
921 virtual int bufferSize() const = 0;
923 class SensorImpl* a_impl;
924 };
925
929 class ALROBOTMODEL_API DCMSensor: public Sensor
930 {
931 public:
935 DCMSensor();
937 ~DCMSensor();
940 const std::vector<std::string>& dcmKeys() const;
943 std::vector<std::string> fullDcmKeys() const;
946 const std::vector<std::string>& dcmStateKeys() const;
950 const std::vector<std::string>& dcmCommandKeys() const;
953 virtual int bufferSize() const = 0;
954 };
955
956
960 class ALROBOTMODEL_API AngleSensor: public DCMSensor
961 {
962 public:
966 AngleSensor();
968 ~AngleSensor();
971 virtual int bufferSize() const;
972 };
973
976 class ALROBOTMODEL_API CoupledSensor: public DCMSensor
977 {
978 public:
982 CoupledSensor();
984 ~CoupledSensor();
987 virtual int bufferSize() const;
988 };
989
993 class ALROBOTMODEL_API TorqueSensor: public DCMSensor
994 {
995 public:
999 TorqueSensor();
1001 ~TorqueSensor();
1004 virtual int bufferSize() const;
1005 };
1006
1011 class ALROBOTMODEL_API AngleSpeedSensor: public DCMSensor
1012 {
1013 public:
1017 AngleSpeedSensor();
1019 ~AngleSpeedSensor();
1022 virtual int bufferSize() const;
1023 };
1024
1029 class ALROBOTMODEL_API WheelVelocitySensor: public DCMSensor
1030 {
1031 public:
1035 WheelVelocitySensor();
1037 ~WheelVelocitySensor();
1040 virtual int bufferSize() const;
1041 };
1042
1045 class ALROBOTMODEL_API BaseCamera: public Sensor
1046 {
1047 public:
1051 BaseCamera();
1053 ~BaseCamera();
1056 virtual int bufferSize() const = 0;
1057 };
1058
1061 class ALROBOTMODEL_API CameraSensor: public BaseCamera
1062 {
1063 public:
1067 CameraSensor();
1069 ~CameraSensor();
1072 virtual int bufferSize() const;
1074 int width() const;
1076 int height() const;
1077 };
1078
1081 class ALROBOTMODEL_API CameraStereoSensor: public BaseCamera
1082 {
1083 public:
1087 CameraStereoSensor();
1089 ~CameraStereoSensor();
1092 virtual int bufferSize() const;
1094 int width() const;
1096 int height() const;
1097 };
1098
1101 class ALROBOTMODEL_API CameraDepthSensor: public BaseCamera
1102 {
1103 public:
1107 CameraDepthSensor();
1109 ~CameraDepthSensor();
1112 virtual int bufferSize() const;
1114 int width() const;
1116 int height() const;
1117 };
1118
1121 class ALROBOTMODEL_API FSRSensor: public DCMSensor
1122 {
1123 public:
1127 FSRSensor();
1129 ~FSRSensor();
1132 virtual int bufferSize() const;
1133 };
1134
1137 class ALROBOTMODEL_API InertialSensor: public DCMSensor
1138 {
1139 public:
1143 InertialSensor();
1145 ~InertialSensor();
1148 virtual int bufferSize() const;
1149 };
1150
1153 class ALROBOTMODEL_API SonarSensor: public DCMSensor
1154 {
1155 public:
1159 SonarSensor();
1161 ~SonarSensor();
1164 virtual int bufferSize() const;
1165 };
1166
1169 class ALROBOTMODEL_API BumperSensor: public DCMSensor
1170 {
1171 public:
1175 BumperSensor();
1177 ~BumperSensor();
1180 virtual int bufferSize() const;
1181 };
1182
1185 class ALROBOTMODEL_API TactileSensor: public DCMSensor
1186 {
1187 public:
1191 TactileSensor();
1193 ~TactileSensor();
1196 virtual int bufferSize() const;
1197 };
1198
1202 class ALROBOTMODEL_API SingleDepthSensor: public DCMSensor
1203 {
1204 public:
1208 SingleDepthSensor();
1210 ~SingleDepthSensor();
1213 virtual int bufferSize() const;
1214 };
1215
1219 class ALROBOTMODEL_API ArrayDepthSensor: public DCMSensor
1220 {
1221 public:
1225 ArrayDepthSensor();
1227 ~ArrayDepthSensor();
1230 virtual int bufferSize() const;
1232 int width() const;
1234 int height() const;
1235 };
1236
1239 class ALROBOTMODEL_API MicrophoneSensor: public Sensor
1240 {
1241 public:
1245 MicrophoneSensor();
1247 ~MicrophoneSensor();
1250 virtual int bufferSize() const;
1251 };
1252
1253 }
1254
1255 #endif // ALROBOTMODEL_H
Sim::Model
Model is responsible of giving information of a physical robot.
Definition: alrobotmodel.h:60
Sim::Sensor::Type
Type
gives the type of the Sensor.
Definition: alrobotmodel.h:883
Sim::LEDActuator::RED
Definition: alrobotmodel.h:853
Sim::ActuatorGroup
ActuatorSymmetry is a predefined and named ordered group of actuators that allows simpler calls of AL...
Definition: alrobotmodel.h:612
Sim::Sensor::BUMPER
Definition: alrobotmodel.h:891
Sim::InertialSensor
InertialSensor is a class defining a inertial unit sensor.
Definition: alrobotmodel.h:1137
Sim::BumperSensor
BumperSensor is a class defining a bumper sensor.
Definition: alrobotmodel.h:1169
Sim::VisualData::a_impl
class VisualDataImpl * a_impl
Private implementation.
Definition: alrobotmodel.h:525
Sim::VisualData
VisualData embeds information about the visualization of a physical object.
Definition: alrobotmodel.h:505
Sim::Sensor::ARRAY_DEPTH
Definition: alrobotmodel.h:898
Sim::MassData
MassData embeds information about the inertial mass of a physical object.
Definition: alrobotmodel.h:479
Sim::WheelVelocityActuator
WheelVelocityActuator is a class defining an actuator that drives a wheel.
Definition: alrobotmodel.h:826
Sim::SonarSensor
SonarSensor is a class defining a sonar sensor.
Definition: alrobotmodel.h:1153
Sim::Link::a_impl
class LinkImpl * a_impl
private implementation.
Definition: alrobotmodel.h:568
Sim::Sensor::MICROPHONE
Definition: alrobotmodel.h:900
Sim::Sensor::CAMERA_DEPTH
Definition: alrobotmodel.h:899
Sim::Actuator::TORQUE_MOTOR
Definition: alrobotmodel.h:582
Sim::DCMSensor
DCMSensor defines a generic sensor which values are communicated through the DCM. ...
Definition: alrobotmodel.h:929
Sim::Actuator
Actuator is a generic class defining a robot owned object that have an influence on it and/or its env...
Definition: alrobotmodel.h:574
Sim::LEDActuator::GREEN
Definition: alrobotmodel.h:854
Sim::AngleSpeedActuator
AngleSpeedActuator is a class defining a speed-controlled motor. It is attached to one joint and can ...
Definition: alrobotmodel.h:772
Sim::JointSymmetry::SymmetryType
SymmetryType
the symmetry can be direct or reversed
Definition: alrobotmodel.h:359
Sim::Sensor::a_impl
class SensorImpl * a_impl
private implementation.
Definition: alrobotmodel.h:923
ALROBOTMODEL_API
#define ALROBOTMODEL_API
Definition: alrobotmodel.h:19
Sim::Joint::a_impl
class JointImpl * a_impl
Private implementation.
Definition: alrobotmodel.h:465
Sim::Model::a_impl
class ModelImpl * a_impl
private implementation.
Definition: alrobotmodel.h:340
Sim::CameraSensor
CameraSensor is a class defining a camera.
Definition: alrobotmodel.h:1061
Sim::JointGroup
JointGroup is a predefined and named ordered group of joints that allow simpler calls of ALMotion API...
Definition: alrobotmodel.h:382
Sim::JointSymmetry
JointSymmetry defines a symmetry between two joints.
Definition: alrobotmodel.h:345
Sim::DCMActuator
DCMActuator defines a generic actuator which commands are communicated through the DCM...
Definition: alrobotmodel.h:642
Sim::BaseCamera
BaseCamera is the base class of Camera classes.
Definition: alrobotmodel.h:1045
Sim::Actuator::COUPLED_MOTOR
Definition: alrobotmodel.h:581
Sim::Actuator::ANGLE_SPEED_MOTOR
Definition: alrobotmodel.h:583
Sim::JointSymmetry::MIRROR_SYM
Definition: alrobotmodel.h:361
Sim::Sensor::SINGLE_DEPTH
Definition: alrobotmodel.h:897
Sim::SingleDepthSensor
SingleDepthSensor is a class defining a sensor that provides a single depth measurement.
Definition: alrobotmodel.h:1202
Sim::ActuatorGroup::a_impl
class ActuatorGroupImpl * a_impl
private implementation.
Definition: alrobotmodel.h:635
Sim::frictionCoeff
ALROBOTMODEL_API bool frictionCoeff(const std::string &frictionMaterial1, const std::string &frictionMaterial2, float &frictionCoeff)
This function returns if a friction coefficient (nil or positive) between frictionMaterial1 and frict...
Sim::AngleSpeedSensor
AngleSpeedSensor is a class defining an angle speed sensor. It is attached to an angle speed motor (i...
Definition: alrobotmodel.h:1011
Sim::Frame
Frame defines a position in space and has a name.
Definition: alrobotmodel.h:407
Sim::Link
Link defines a solid and mobile part of the robot.
Definition: alrobotmodel.h:530
Sim::TorqueSensor
TorqueSensor is a class defining an torque sensor. It is attached to a torque motor (it has the same ...
Definition: alrobotmodel.h:993
Sim::Actuator::Type
Type
gives the type of the Actuator.
Definition: alrobotmodel.h:578
Sim::LEDActuator::Color
Color
color of the LED
Definition: alrobotmodel.h:851
Sim::Sensor::WHEEL_VELOCITY
Definition: alrobotmodel.h:894
Sim::Link::LinkType
LinkType
link can be classic links as in Denavit-Hartenberg representation, or of specific kind ...
Definition: alrobotmodel.h:535
Sim::Sensor::DEPTH_INFRARED
Definition: alrobotmodel.h:896
Sim::Sensor::ANGLE
Definition: alrobotmodel.h:885
Sim::Link::WHEEL_OMNI
Definition: alrobotmodel.h:538
Sim::CoupledSensor
CoupledSensor is a class defining a coupled sensor.
Definition: alrobotmodel.h:976
Sim::Sensor::COUPLED
Definition: alrobotmodel.h:886
Sim::CameraStereoSensor
CameraStereoSensor is a class defining a camera.
Definition: alrobotmodel.h:1081
Sim::Sensor
Sensor is a generic class defining a robot owned object that measure a quantity about it or its envir...
Definition: alrobotmodel.h:879
Sim::WheelTorqueActuator
WheelTorqueActuator is a class defining an actuator that drives a wheel.
Definition: alrobotmodel.h:806
Sim::TactileSensor
TactileSensor is a class defining a tactile sensor.
Definition: alrobotmodel.h:1185
Sim::Actuator::ANGLE_MOTOR
Definition: alrobotmodel.h:580
Sim::LEDActuator
LEDActuator is a class defining a LED actuator.
Definition: alrobotmodel.h:847
Sim::WheelVelocitySensor
WheelVelocitySensor is a class defining a wheel velocity sensor. It is to a wheel velocity motor (it ...
Definition: alrobotmodel.h:1029
Sim::JointGroup::a_impl
class JointGroupImpl * a_impl
private implementation.
Definition: alrobotmodel.h:402
Sim::Actuator::a_impl
ActuatorImpl * a_impl
private implementation
Definition: alrobotmodel.h:606
Sim::JointSymmetry::a_impl
class JointSymmetryImpl * a_impl
brief private implementation.
Definition: alrobotmodel.h:375
Sim::Sensor::FSR
Definition: alrobotmodel.h:889
Sim::CoupledActuator
CoupledActuator is a class defining a coupled motor. It is attached to several joints and can actuate...
Definition: alrobotmodel.h:698
Sim::DepthInfraredSensor
SingleDepthSensor DepthInfraredSensor
Definition: alrobotmodel.h:54
Sim::AngleSensor
AngleSensor is a class defining an angular sensor. It is attached to an angular motor (it has the sam...
Definition: alrobotmodel.h:960
Sim::Sensor::TORQUE
Definition: alrobotmodel.h:892
Sim::ArrayDepthSensor
ArrayDepthSensor is a class defining a sensor made of an array of depth sensors.
Definition: alrobotmodel.h:1219
Sim::TorqueActuator
TorqueActuator is a class defining a torque-controlled motor. It is attached to one joint and can act...
Definition: alrobotmodel.h:738
Sim::Link::CLASSIC
Definition: alrobotmodel.h:537
Sim::Joint
Joint defines an articulation of the robot.
Definition: alrobotmodel.h:440
Sim::FSRSensor
FSRSensor is a class defining a Force Sensitive Resistor sensor.
Definition: alrobotmodel.h:1121
Sim::MicrophoneSensor
MicrophoneSensor is a class defining a microphone sensor.
Definition: alrobotmodel.h:1239
Sim::AngleActuator
AngleActuator is a class defining an angular motor. It is attached to the joint that it can actuate...
Definition: alrobotmodel.h:662
Sim::Sensor::CAMERA
Definition: alrobotmodel.h:888
Sim::Sensor::SONAR
Definition: alrobotmodel.h:887
Sim::JointSymmetry::MIRROR_ANTISYM
Definition: alrobotmodel.h:362
Sim::MassData::a_impl
class MassDataImpl * a_impl
Private implementation.
Definition: alrobotmodel.h:499
Sim::Sensor::ANGLE_SPEED
Definition: alrobotmodel.h:893
Sim::Sensor::TACTILE
Definition: alrobotmodel.h:895
Sim::Actuator::WHEEL_TORQUE
Definition: alrobotmodel.h:584
Sim::Sensor::INERTIAL
Definition: alrobotmodel.h:890
Sim::CameraDepthSensor
CameraDepthSensor is a class defining a depth sensing camera.
Definition: alrobotmodel.h:1101
Sim::Frame::a_impl
class FrameImpl * a_impl
private implementation.
Definition: alrobotmodel.h:435
Sim::Actuator::WHEEL_VELOCITY
Definition: alrobotmodel.h:585
Sim::Actuator::LED
Not implemented yet.
Definition: alrobotmodel.h:587