Spr::HISpidar4D Class Reference

#include <HISpidar4D.h>

Inherits Spr::HIForceDevice3D.

Collaboration diagram for Spr::HISpidar4D:

[legend]List of all members.

Public Member Functions

• virtual bool Init (DVDeviceManager &dev)
• virtual bool Init (DVDeviceManager &dev, Vec3f *motorPos, float vpn, float lpp, float minF, float maxF)
• virtual bool BeforeCalib ()
• virtual bool Calib ()
• void SetMinForce ()
• virtual void SetForce (const Vec3f &f)
• virtual void Update (float dt)
• virtual Vec3f GetForce ()
• virtual Vec3f GetPos ()

Protected Member Functions

• float AvailableForce (int disable, Vec3f &f, Vec3f *v3Str)
• void InitMat ()

Protected Attributes

• Vec3f posSqrConst
• Matrix3f matPos
• HISpidarMotor motor [4]

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Detailed Description

4–{Ž…‚ÌSPIDAR. Ž…‚Ì’·‚³‚©‚ç�À•WŒvŽZ‚ð�s‚Á‚½‚è�A�o—Í‚·‚é—ÍŠo‚©‚çŠeƒ‚�[ƒ^‚Ì �o—Í‚ðŒvŽZ‚µ‚½‚è‚·‚é�B�o—Í‚ÌŒvŽZ‚É2ŽŸŒv‰æ–@‚ð—p‚¢‚Ä‚¢‚邽‚ß�C HIS/Fortran ‚Ì libF77.lib libI77.lib QuadPR.lib ‚ª•K—v�D

SPIDAR‚Ì’è�”‚Ì�Ý’è—á
Init(dev, motPos, 0.5776, 2.924062107079e-5f, 0.5f, 20.0f);

//	ƒ‚�[ƒ^‚ÌŽæ‚è•t‚¯ˆÊ’u. ƒ‚�[ƒ^‚ª’¼•û‘Ì‚ÉŽæ‚è•t‚¯‚ç‚ê‚Ä‚¢‚é�ê�‡‚Í�C
#define PX	0.265f	//	x•ûŒü‚Ì•Ó‚Ì’·‚³/2
#define PY	0.265f	//	y•ûŒü‚Ì•Ó‚Ì’·‚³/2
#define PZ	0.265f	//	z•ûŒü‚Ì•Ó‚Ì’·‚³/2
Vec3f motorPos[][4] =	//	ƒ‚�[ƒ^‚ÌŽæ‚è•t‚¯ˆÊ’u(’†�S‚ðŒ´“_‚Æ‚·‚é){
	{Vec3f(-PX, PY, PZ),	Vec3f( PX, PY,-PZ), Vec3f(-PX,-PY,-PZ), Vec3f( PX,-PY, PZ)},
	{Vec3f( PX, PY, PZ),	Vec3f(-PX, PY,-PZ), Vec3f( PX,-PY,-PZ), Vec3f(-PX,-PY, PZ)}
};

//	‚Pƒjƒ…�[ƒgƒ“�o‚·‚½‚ß‚ÌDA‚Ì�o—Í“dˆ³[V/N]
//	maxon:		0.008[m] / 0.0438[Nm/A] / 0.5[A/V] =  0.365296803653
//	�ç—t�¸‹@:	0.008[m] / 0.0277[Nm/A] / 0.5[A/V] =  0.5776
sp->VoltPerNewton(0.5776f);

//	‚PƒJƒEƒ“ƒg‚Ì’·‚³ [m/plus]	ŽÀ‘ª’l: 2.924062107079e-5f
sp->LenPerPlus(2.924062107079e-5f);

//	�Å�¬’£—Í [N]
sp->MinForce(0.5f);

//	�Å‘å’£—Í [N]
sp->MaxForce(20.0f);

Definition at line 44 of file HISpidar4D.h.

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Member Function Documentation

float Spr::HISpidar4D::AvailableForce (  int  disable, Vec3f &  f, Vec3f *  v3Str )  [protected]

�o—͉”\‚È—Í‚ðŒvŽZ‚µ�A‚»‚Ì�o—Í‚Ì“¾“_‚ðŒvŽZ‚·‚é. Parameters: disable  Žg—p‚µ‚È‚¢Ž…‚Ì”Ô�† f  �o—Í‚µ‚½‚¢—Í. �o—͉”\‚È—Í‚É•Ï�X‚³‚ê‚é. v3Str  4–{‚ÌŽ…‚ÌŒü‚« Returns: “¾“_(—Í‚Ì�³Šm‚³‚ƃ‚�[ƒ^�o—Í‚Ì‘å‚«‚³‚ÅŒˆ‚Ü‚é�B ‚±‚ÌŽ…‚ð‘I‘ð‚·‚é‚±‚Æ‚Ì�³‚µ‚³)

void Spr::HISpidar4D::InitMat (   )  [protected]

ˆÊ’u‚ðŒvŽZ‚·‚邽‚ß‚Ì�s—ñ‚Ì�‰Šú‰»

virtual bool Spr::HISpidar4D::Init (  DVDeviceManager &  dev  )  [virtual]

ƒfƒoƒCƒX‚Ì�‰Šú‰»(Žg—p‘O‚ɌĂÔ)

virtual bool Spr::HISpidar4D::Init (  DVDeviceManager &  dev, Vec3f *  motorPos, float  vpn, float  lpp, float  minF, float  maxF )  [virtual]

ƒfƒoƒCƒX‚Ì�‰Šú‰»(Žg—p‘O‚ɌĂÔ)

virtual bool Spr::HISpidar4D::BeforeCalib (   )  [inline, virtual]

ƒLƒƒƒŠƒuƒŒ�[ƒVƒ‡ƒ“‚Ì‘O‚É�s‚¤�ˆ—� Reimplemented from Spr::HIHapticDevice. Definition at line 82 of file HISpidar4D.h.

virtual bool Spr::HISpidar4D::Calib (   )  [virtual]

ƒLƒƒƒŠƒuƒŒ�[ƒVƒ‡ƒ“ Reimplemented from Spr::HIHapticDevice.

void Spr::HISpidar4D::SetMinForce (   )

�Å’á’£—Í‚ð�o—Í

virtual void Spr::HISpidar4D::SetForce (  const Vec3f &  f  )  [inline, virtual]

—Í‚Ì�o—Í Implements Spr::HIForceDevice3D. Definition at line 88 of file HISpidar4D.h.

virtual void Spr::HISpidar4D::Update (  float  dt  )  [virtual]

ƒfƒoƒCƒX‚Ì�ó‘Ô‚ð�X�V‚·‚é. Reimplemented from Spr::HIForceDevice6D.

virtual Vec3f Spr::HISpidar4D::GetForce (   )  [virtual]

ƒfƒoƒCƒX‚ÌŽÀ�Û‚Ì’ñŽ¦—Í‚ð•Ô‚· Implements Spr::HIForceDevice6D.

virtual Vec3f Spr::HISpidar4D::GetPos (   )  [inline, virtual]

ƒfƒoƒCƒX‚ÌŒ»�݈ʒu‚ð•Ô‚· Implements Spr::HIForceDevice6D. Definition at line 94 of file HISpidar4D.h.

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Member Data Documentation

Vec3f Spr::HISpidar4D::posSqrConst [protected]

ˆÊ’u‚ðŒvŽZ‚·‚邽‚ß‚Ì’è�” Definition at line 52 of file HISpidar4D.h.

Matrix3f Spr::HISpidar4D::matPos [protected]

ˆÊ’u‚ðŒvŽZ‚·‚邽‚ß‚Ì�s—ñ Definition at line 54 of file HISpidar4D.h.

HISpidarMotor Spr::HISpidar4D::motor[4] [protected]

ƒ‚�[ƒ^ Definition at line 60 of file HISpidar4D.h.

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

• HISpidar4D.h

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