ActuatorModel.h File Reference

Model of actuator Includes friction, max torque, and motor torque speed curve. More...

#include "Utilities/utilities.h"

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Classes
class	ActuatorModel< T >

Detailed Description

Model of actuator Includes friction, max torque, and motor torque speed curve.

The getTorque is used for torque at the joint, not torque at the motor. The provided frictions are for torques at the joint, not torque at the motor The R/KT are for the motor

Definition in file ActuatorModel.h.