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//! Actuator base class.
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* This is a basic actuator class. Actuators are joints, created by the Open Dynamics Engine (ODE) which connects two bodies
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//TODO: Include an AMotor joint to simulate friction of the actuator
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/* TODO: What are the basic properties each actuator has in common --> adopt the interface accordingly
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* Torque the motor can apply to the joint,
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* Max Velocity the joint can rotate/move
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* (Friction of the motor)
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* Holding Torque of the motor
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* Position / Velocity / Acceleration
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/* TODO: providing internal functions, such as joint distance to body 1 and 2, (kinematic) energy of the system,
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* oscillating movements of the bodies to provide a measurement of the stability of the simulation. These
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* functions should be private and a friend class which is determing the stability of the simulation is its
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// TODO: Sound should be handled by the actuator classes and therefore an interface needs to be defined here.
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#include <srCore/robot/objectBase.h>
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#include <dtCore/dt.h>
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#include <dtCore/object.h>
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#include <dtCore/globals.h>
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#include <dtCore/transform.h>
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#include <dtGame/gameactor.h>
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#include <dtCore/refptr.h>
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#include <osgDB/ReadFile>
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class ActuatorBase : public ObjectBase
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static std::map< dJointID, ActuatorBase*> jointActuatorMap;
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// static inline void registerActuator(ActuatorBase* actuator) {
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// jointActuatorMap.insert(std::pair<ActuatorBase*, dJointID>(actuator, actuator->getHinge()));
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ActuatorBase(const std::string name, const std::string type) :
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* \brief Initializes the actuator
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* \param bodyI First Body
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* \param bodyII Second Body
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* \param anchorX, anchorY, anchorZ position of the joint
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* \param axisX, axisY, axisZ orientation of the joint
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virtual void init(dtCore::RefPtr<BodyBase> myBody1, dtCore::RefPtr<BodyBase> myBody2,
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float anchorX, float anchorY, float anchorZ,
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float axisX, float axisY, float axisZ) {};
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virtual void registerActuator() = 0;
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//returns the jointID of the hinge.
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virtual dJointID getHinge() = 0;
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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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virtual void setTorque(float torque, float deltaTime) = 0;
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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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virtual void setVel(float v, float deltaTime) = 0;
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//! Returns the current velocity of the joint.
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virtual float getVel(float deltaTime) {return velocity;};
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//! Returns the current position of the joint.
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virtual float getPos() = 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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virtual void setODEParameter(int parameter, float value) = 0;
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virtual float getODEParameter(int parameter) = 0;
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//! activate/deactivate the actuator
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virtual void setActive(bool activate) {}
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//! will be called in the TickLocal function of the robotActorBase class
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virtual void update(float deltaSimTme) {}
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//! returns the name of the actuator
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inline std::string getName() const {return name;}
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//!returns the type of the class
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inline std::string getType() const {return type;}
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virtual ~ActuatorBase() {};
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const std::string name;
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const std::string type;
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void setVel(float v,float deltatime);
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void setParam(int parameter, float value);
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typedef std::map< dJointID, ActuatorBase*> map_type;
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typedef map_type::value_type pair_type;
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#endif /*ACTUATOR_H_*/
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inc/srCore/actuator/actuatorBase.h
