pr2_mechanism_model::PR2BeltCompensatorTransmission Class Reference

#include <pr2_belt_transmission.h>

Inheritance diagram for pr2_mechanism_model::PR2BeltCompensatorTransmission:
Inheritance graph
[legend]

List of all members.

Public Member Functions

bool initXml (TiXmlElement *config)
 Initializes the transmission from XML data.
bool initXml (TiXmlElement *config, Robot *robot)
 Initializes the transmission from XML data.
 PR2BeltCompensatorTransmission ()
void propagateEffort (std::vector< pr2_mechanism_model::JointState * > &, std::vector< pr2_hardware_interface::Actuator * > &)
 Uses commanded joint efforts to fill out commanded motor currents.
void propagateEffortBackwards (std::vector< pr2_hardware_interface::Actuator * > &, std::vector< pr2_mechanism_model::JointState * > &)
 Uses the actuator's commanded effort to fill out the torque on the joint.
void propagatePosition (std::vector< pr2_hardware_interface::Actuator * > &, std::vector< pr2_mechanism_model::JointState * > &)
 Uses encoder data to fill out joint position and velocities.
void propagatePositionBackwards (std::vector< pr2_mechanism_model::JointState * > &, std::vector< pr2_hardware_interface::Actuator * > &)
 Uses the joint position to fill out the actuator's encoder.
 ~PR2BeltCompensatorTransmission ()

Private Attributes

double delta_motor_vel_
double dt
double halfdt_backwards_
JointCalibrationSimulator joint_calibration_simulator_
double Kd_motor_
double lambda_combo_
double lambda_joint_
double lambda_motor_
double last_defl_acc_
double last_defl_pos_
double last_defl_vel_
double last_jnt1_acc_
double last_jnt1_pos_
double last_jnt1_vel_
double last_joint_pos_
double last_joint_pos_backwards_
double last_joint_vel_
double last_joint_vel_backwards_
double last_motor_acc_backwards_
double last_motor_damping_force_
double last_motor_pos_
double last_motor_pos_backwards_
double last_motor_vel_
double last_motor_vel_backwards_
ros::Duration last_timestamp_
ros::Duration last_timestamp_backwards_
double mechanical_reduction_
double motor_force_backwards_
ros::Time simulated_actuator_start_time_
int simulated_actuator_timestamp_initialized_
double trans_compl_
double trans_tau_

Detailed Description

PROPAGATE*BACKWARDS IS NOT GUARANTEED TO WORK

Definition at line 46 of file pr2_belt_transmission.h.


Constructor & Destructor Documentation

pr2_mechanism_model::PR2BeltCompensatorTransmission::PR2BeltCompensatorTransmission (  )  [inline]

Definition at line 42 of file pr2_belt_transmission.h.

pr2_mechanism_model::PR2BeltCompensatorTransmission::~PR2BeltCompensatorTransmission (  )  [inline]

Definition at line 43 of file pr2_belt_transmission.h.


Member Function Documentation

bool pr2_mechanism_model::PR2BeltCompensatorTransmission::initXml ( TiXmlElement *  config  )  [virtual]

Initializes the transmission from XML data.

Reimplemented from pr2_mechanism_model::Transmission.

bool pr2_mechanism_model::PR2BeltCompensatorTransmission::initXml ( TiXmlElement *  config,
Robot robot 
) [virtual]

Initializes the transmission from XML data.

Implements pr2_mechanism_model::Transmission.

void pr2_mechanism_model::PR2BeltCompensatorTransmission::propagateEffort ( std::vector< pr2_mechanism_model::JointState * > &  ,
std::vector< pr2_hardware_interface::Actuator * > &   
) [virtual]

Uses commanded joint efforts to fill out commanded motor currents.

Implements pr2_mechanism_model::Transmission.

void pr2_mechanism_model::PR2BeltCompensatorTransmission::propagateEffortBackwards ( std::vector< pr2_hardware_interface::Actuator * > &  ,
std::vector< pr2_mechanism_model::JointState * > &   
) [virtual]

Uses the actuator's commanded effort to fill out the torque on the joint.

Implements pr2_mechanism_model::Transmission.

void pr2_mechanism_model::PR2BeltCompensatorTransmission::propagatePosition ( std::vector< pr2_hardware_interface::Actuator * > &  ,
std::vector< pr2_mechanism_model::JointState * > &   
) [virtual]

Uses encoder data to fill out joint position and velocities.

Implements pr2_mechanism_model::Transmission.

void pr2_mechanism_model::PR2BeltCompensatorTransmission::propagatePositionBackwards ( std::vector< pr2_mechanism_model::JointState * > &  ,
std::vector< pr2_hardware_interface::Actuator * > &   
) [virtual]

Uses the joint position to fill out the actuator's encoder.

Implements pr2_mechanism_model::Transmission.


Member Data Documentation

Definition at line 84 of file pr2_belt_transmission.h.

Definition at line 59 of file pr2_belt_transmission.h.

Definition at line 90 of file pr2_belt_transmission.h.

Definition at line 105 of file pr2_belt_transmission.h.

Definition at line 65 of file pr2_belt_transmission.h.

Definition at line 68 of file pr2_belt_transmission.h.

Definition at line 67 of file pr2_belt_transmission.h.

Definition at line 66 of file pr2_belt_transmission.h.

Definition at line 79 of file pr2_belt_transmission.h.

Definition at line 77 of file pr2_belt_transmission.h.

Definition at line 78 of file pr2_belt_transmission.h.

Definition at line 75 of file pr2_belt_transmission.h.

Definition at line 73 of file pr2_belt_transmission.h.

Definition at line 74 of file pr2_belt_transmission.h.

Definition at line 81 of file pr2_belt_transmission.h.

Definition at line 98 of file pr2_belt_transmission.h.

Definition at line 82 of file pr2_belt_transmission.h.

Definition at line 99 of file pr2_belt_transmission.h.

Definition at line 96 of file pr2_belt_transmission.h.

Definition at line 85 of file pr2_belt_transmission.h.

Definition at line 70 of file pr2_belt_transmission.h.

Definition at line 94 of file pr2_belt_transmission.h.

Definition at line 71 of file pr2_belt_transmission.h.

Definition at line 95 of file pr2_belt_transmission.h.

Definition at line 58 of file pr2_belt_transmission.h.

Definition at line 89 of file pr2_belt_transmission.h.

Definition at line 62 of file pr2_belt_transmission.h.

Definition at line 92 of file pr2_belt_transmission.h.

Definition at line 102 of file pr2_belt_transmission.h.

Definition at line 101 of file pr2_belt_transmission.h.

Definition at line 63 of file pr2_belt_transmission.h.

Definition at line 64 of file pr2_belt_transmission.h.


The documentation for this class was generated from the following file:
 All Classes Namespaces Files Functions Variables Enumerator Defines


pr2_mechanism_model
Author(s): Eric Berger berger@willowgarage.com, Stuart Glaser, Wim Meeussen
autogenerated on Fri Jan 11 09:32:54 2013