#include <SRobotIO.hpp>

Collaboration diagram for scl::SRobotActuators:

Public Attributes
Eigen::VectorXd	force_gc_commanded_

sutil::CMappedPointerList < std::string, SActuatorSetBase, false >	actuator_sets_

Detailed Description

Contains the controller generated data. These are sent to the actuators.

Member Data Documentation

sutil::CMappedPointerList<std::string, SActuatorSetBase, false> scl::SRobotActuators::actuator_sets_

Muscle actuator sets. Use the type information to do stuff with the data depending on actuator type.

NOTE : The CMappedPointerList merely indicates that sutil will NOT deallocate memory for these objects.

Eigen::VectorXd scl::SRobotActuators::force_gc_commanded_

The control generalized forces (usually torques) to be applied to a robot. Eg. a) By the controller b) By a user interacting through a gui

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