raisim::ActuatorState

struct · #include <raisim/object/ArticulatedSystem/MotorOperatingRegion.hpp>

The state of an actuator in the last simulation step, with the motor quantities on the motor (rotor) side of its gear. The region is evaluated at the motor speed at the beginning of the step and the MOR-limited motor torque is constant over the step, so (motorSpeed, motorTorque) is the operating point to compare with the region: motorOperatingRegionViolation(motor, motorSpeed, motorTorque) is zero when the region is enforced (see ArticulatedSystem::setActuators()). The joint effort limits do not clip actuator torques.

Public attributes

motorSpeed

double motorSpeed

motor speed at the beginning of the step [rad/s]; the region of the step is evaluated at it

averageMotorSpeed

double averageMotorSpeed

motor speed averaged over the step [rad/s]; motorTorque * averageMotorSpeed is the mechanical power of the motor

commandedMotorTorque

double commandedMotorTorque

motor torque requested with setActuatorTorques() (the actuator torque divided by its gear ratio) [Nm]

motorTorque

double motorTorque

electromagnetic motor torque Kt i [Nm]: the commanded motor torque clipped to the operating region

jointLossTorque

double jointLossTorque

friction and damping torque on the actuator's joint over the step [Nm or N, at the joint]: the joint's own friction and damping plus the output losses of the actuator. It opposes the joint motion.

saturation

MotorSaturation saturation

the bound that limited the commanded motor torque (NONE if it was admissible)