rate_and_force_actuator Class Reference

A component used to allow a controller (or other component) to apply ideal forces and torques to the actuator's parent. More...

#include <rate_and_force_actuator.h>

Inherits dsim_model.

Public Member Functions
	rate_and_force_actuator (dsim_model_setup *setup)
	Constructor.
void	initialize_data ()
	Initialize outlets and output variables.
void	rhs (double t, double jd)
	Computation done during numerical integration.
void	pre_calculate ()
	Computation done prior to numerical integration.
void	complete_timestep ()
	Computation done after numerical integration.

Protected Attributes
dsim_variable	force_dsim
	Force.
dsim_variable	rate_dsim
	Torque.
dsim_variable	forceApp_dsim
	Applied force.
dsim_variable	rateApp_dsim
	Applied torque.

Detailed Description

A component used to allow a controller (or other component) to apply ideal forces and torques to the actuator's parent.

A component used to allow a controller (or other component) to apply ideal forces and torques to the actuator's parent.

The ideal actuator component provides two inputs, force and torque, intended to be set by a controller or external component. These variables are then used, each timestep, as part of the actuator's calculated force/torque on its parent, which can therefore be a way to provide an external source with a mechanism for applying idealized forces and torques.

The two inputs are named "force" and "torque" and are standard 3x1 matrices. They should be in N and Nm. The torque is in the body frame and the force is in the inertial frame (or other frames used by the parent collecting the "apply_torque" and "apply_force" messages).

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

• rate_and_force_actuator.h
• rate_and_force_actuator.cc