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* Created on: Nov 18, 2008
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#include <srCore/actuator/actuatorBase.h>
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#include <srCore/simulationUtils.h>
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#include <dtAudio/sound.h>
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//TODO: remodel the Screw Drive according to the test results of the real one (which needs to be done as well)
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//TODO: provide current screw drive information such as velocity and acceleration. Currently only the values which have been set are returned
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class ScrewDrive2: public ActuatorBase {
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ScrewDrive2(const std::string name);
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virtual ~ScrewDrive2();
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void registerActuator();
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void init(dtCore::RefPtr<BodyBase> attachedBody, dtCore::RefPtr<ScrewDrive2> second, bool isOnRightHandSide) {
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isOnRightHandSide = isOnRightHandSide;
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secondScrewDrive = second;
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this->attachedBody = attachedBody;
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for(unsigned int i = 0; i < this->GetNumChildren(); ++i)
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if((screwSound = dynamic_cast<dtAudio::Sound*>(this->GetChild(i))) != NULL)
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inline dtCore::RefPtr<BodyBase> getAttachedBody() {return attachedBody;};
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* \brief Writes the parameter value in parameter
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* The available parameters can be retrieved by calling getParameterList()
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* See also: ObjectBase::getParameter()
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inline virtual void getParameter(const std::string &name, ParameterReturnValue parameter) {
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//frontActuator->getParameter(name, parameter);
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* \brief Sets a parameter
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* See also ObjectBase::getParameter()
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inline virtual void setParameter(const std::string &name, ParameterReturnValue parameter) {
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//frontActuator->setParameter(name, parameter);
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//returns the jointID of the hinge.
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inline dJointID getHinge() {printf("Warning: This screw drive has actually no ode hinge \n"); return 0;}
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//inline dJointID getHinge(int index) {return ((index==0) ? frontActuator->getHinge() : backActuator->getHinge());}
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// Maximum torque that can be applied by the motor.
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//virtual void setMaxTorque(float torque) = 0;
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// Maximum torque that the motor can stand(then switched off) to hold its position
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//virtual void setHoldingTorque(float torque) = 0;
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// Torque, that applies against the velocity vector, to slow down the joint.
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//virtual void setBrakeTorque(float torque) = 0;
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// Maximum speed the joint can reach.
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//virtual void setMaxSpeed(float v_max) = 0;
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//! Setting a torque directly to a joint, can't be greater than maxTorque.
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inline void setTorque(float torque, float deltaTime) {};
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//! Setting a velocity.
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/*! Motor tries to reach this velocity as fast as possible, but is constrained
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void setVel(float v, float deltaTime);
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//! Returns the current velocity of the joint.
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inline float getVel(float deltaTime) { return velocity; };
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//! Returns the current position of the joint.
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inline float getPos() {return 0;};
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//! Sets ode parameters for the joint. For more Information, see www.ode.org/ode-latest-user-guide.org.
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inline void setODEParameter(int parameter, float value) {};
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inline float getODEParameter(int parameter) { return 0.0; }; //Anne
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//! activate/deactivate the actuator
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inline void setActive(bool activate) {active = activate;}
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//! will be called in the TickLocal function of the robotActorBase class
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inline void update(float deltaSimTime) {setVel(getVel(deltaSimTime), deltaSimTime);}
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dtCore::RefPtr<ScrewDrive2> secondScrewDrive;
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dtAudio::Sound* screwSound;
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dtCore::RefPtr<BodyBase> attachedBody;
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bool isOnRightHandSide;
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float d_m, my_Screw, l, F_div_M;
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#endif /* SCREWDRIVE2_H_ */
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inc/srActuator/screwDrive2.h
