pr2_bringup_gazebo_demo::PR2GripperTransmissionCal Class Reference

#include <pr2_gripper_transmission.h>

Public Member Functions
bool	initXml (TiXmlElement config, pr2_mechanism_model::Robot robot)
	PR2GripperTransmissionCal ()
void	propagateEffort (std::vector< pr2_mechanism_model::JointState * > &, std::vector< pr2_hardware_interface::Actuator * > &)
void	propagateEffortBackwards (std::vector< pr2_hardware_interface::Actuator * > &, std::vector< pr2_mechanism_model::JointState * > &)
void	propagatePosition (std::vector< pr2_hardware_interface::Actuator * > &, std::vector< pr2_mechanism_model::JointState * > &)
void	propagatePositionBackwards (std::vector< pr2_mechanism_model::JointState * > &, std::vector< pr2_hardware_interface::Actuator * > &)
virtual	~PR2GripperTransmissionCal ()
Public Attributes
std::string	gap_joint_
double	gap_mechanical_reduction_
std::vector< std::string >	passive_joints_
Private Member Functions
void	computeGapStates (double MR, double MR_dot, double MT, double &theta, double &dtheta_dMR, double &dt_dtheta, double &dt_dMR, double &gap_size, double &gap_velocity, double &gap_effort)
	compute gap position, velocity and measured effort from actuator states
void	getRateFromMaxRateJoint (std::vector< pr2_mechanism_model::JointState * > &js, std::vector< pr2_hardware_interface::Actuator * > &as, int &maxRateJointIndex, double &rate)
void	inverseGapStates (double theta, double &MR, double &dMR_dtheta, double &dtheta_dt, double &dMR_dt)
Private Attributes
double	a_
double	b_
int	default_passive_joint_index_from_sim
double	gear_ratio_
double	h_
JointCalibrationSimulator	joint_calibration_simulator_
double	L0_
double	phi0_
double	r_
double	screw_reduction_
double	t0_
double	theta0_
bool	use_simulated_gripper_joint
	new option to turn off using passive joints for torque control, position detection in sim

Detailed Description

Definition at line 54 of file pr2_gripper_transmission.h.

Constructor & Destructor Documentation

pr2_bringup_gazebo_demo::PR2GripperTransmissionCal::PR2GripperTransmissionCal ( ) [inline]

Definition at line 54 of file pr2_gripper_transmission.h.

virtual pr2_bringup_gazebo_demo::PR2GripperTransmissionCal::~PR2GripperTransmissionCal ( ) [inline, virtual]

Definition at line 55 of file pr2_gripper_transmission.h.

Member Function Documentation

void PR2GripperTransmissionCal::computeGapStates	(	double	MR,
		double	MR_dot,
		double	MT,
		double &	theta,
		double &	dtheta_dMR,
		double &	dt_dtheta,
		double &	dt_dMR,
		double &	gap_size,
		double &	gap_velocity,
		double &	gap_effort
	)			`[private]`

compute gap position, velocity and measured effort from actuator states

given actuator states (motor revolustion, joint torques), compute gap properties.

Definition at line 237 of file pr2_gripper_transmission.cpp.

void pr2_bringup_gazebo_demo::PR2GripperTransmissionCal::getRateFromMaxRateJoint	(	std::vector< pr2_mechanism_model::JointState * > &	js,
		std::vector< pr2_hardware_interface::Actuator * > &	as,
		int &	maxRateJointIndex,
		double &	rate
	)			`[private]`

bool pr2_bringup_gazebo_demo::PR2GripperTransmissionCal::initXml	(	TiXmlElement *	config,
		pr2_mechanism_model::Robot *	robot
	)

void PR2GripperTransmissionCal::inverseGapStates	(	double	theta,
		double &	MR,
		double &	dMR_dtheta,
		double &	dtheta_dt,
		double &	dMR_dt
	)			`[private]`

inverse of computeGapStates() need theta as input computes MR, dMR_dtheta, dtheta_dt, dMR_dt

Definition at line 294 of file pr2_gripper_transmission.cpp.

void pr2_bringup_gazebo_demo::PR2GripperTransmissionCal::propagateEffort	(	std::vector< pr2_mechanism_model::JointState * > &	,
		std::vector< pr2_hardware_interface::Actuator * > &
	)

void pr2_bringup_gazebo_demo::PR2GripperTransmissionCal::propagateEffortBackwards	(	std::vector< pr2_hardware_interface::Actuator * > &	,
		std::vector< pr2_mechanism_model::JointState * > &
	)

void pr2_bringup_gazebo_demo::PR2GripperTransmissionCal::propagatePosition	(	std::vector< pr2_hardware_interface::Actuator * > &	,
		std::vector< pr2_mechanism_model::JointState * > &
	)

void pr2_bringup_gazebo_demo::PR2GripperTransmissionCal::propagatePositionBackwards	(	std::vector< pr2_mechanism_model::JointState * > &	,
		std::vector< pr2_hardware_interface::Actuator * > &
	)

Member Data Documentation

double pr2_bringup_gazebo_demo::PR2GripperTransmissionCal::a_ [private]

Definition at line 108 of file pr2_gripper_transmission.h.

double pr2_bringup_gazebo_demo::PR2GripperTransmissionCal::b_ [private]

Definition at line 109 of file pr2_gripper_transmission.h.

int pr2_bringup_gazebo_demo::PR2GripperTransmissionCal::default_passive_joint_index_from_sim [private]

Definition at line 95 of file pr2_gripper_transmission.h.

std::string pr2_bringup_gazebo_demo::PR2GripperTransmissionCal::gap_joint_

Definition at line 67 of file pr2_gripper_transmission.h.

double pr2_bringup_gazebo_demo::PR2GripperTransmissionCal::gap_mechanical_reduction_

Definition at line 72 of file pr2_gripper_transmission.h.

double pr2_bringup_gazebo_demo::PR2GripperTransmissionCal::gear_ratio_ [private]

Definition at line 102 of file pr2_gripper_transmission.h.

double pr2_bringup_gazebo_demo::PR2GripperTransmissionCal::h_ [private]

Definition at line 107 of file pr2_gripper_transmission.h.

JointCalibrationSimulator pr2_bringup_gazebo_demo::PR2GripperTransmissionCal::joint_calibration_simulator_ [private]

Definition at line 115 of file pr2_gripper_transmission.h.

double pr2_bringup_gazebo_demo::PR2GripperTransmissionCal::L0_ [private]

Definition at line 106 of file pr2_gripper_transmission.h.

std::vector<std::string> pr2_bringup_gazebo_demo::PR2GripperTransmissionCal::passive_joints_

Definition at line 79 of file pr2_gripper_transmission.h.

double pr2_bringup_gazebo_demo::PR2GripperTransmissionCal::phi0_ [private]

Definition at line 104 of file pr2_gripper_transmission.h.

double pr2_bringup_gazebo_demo::PR2GripperTransmissionCal::r_ [private]

Definition at line 110 of file pr2_gripper_transmission.h.

double pr2_bringup_gazebo_demo::PR2GripperTransmissionCal::screw_reduction_ [private]

Definition at line 101 of file pr2_gripper_transmission.h.

double pr2_bringup_gazebo_demo::PR2GripperTransmissionCal::t0_ [private]

Definition at line 105 of file pr2_gripper_transmission.h.

double pr2_bringup_gazebo_demo::PR2GripperTransmissionCal::theta0_ [private]

Definition at line 103 of file pr2_gripper_transmission.h.

bool pr2_bringup_gazebo_demo::PR2GripperTransmissionCal::use_simulated_gripper_joint [private]

new option to turn off using passive joints for torque control, position detection in sim

Definition at line 83 of file pr2_gripper_transmission.h.

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

/opt/ros/diamondback/stacks/wg_robots_gazebo/pr2_bringup_gazebo_demo/include/pr2_bringup_gazebo_demo/pr2_gripper_transmission.h
/opt/ros/diamondback/stacks/wg_robots_gazebo/pr2_bringup_gazebo_demo/src/pr2_gripper_transmission.cpp

pr2_bringup_gazebo_demo::PR2GripperTransmissionCal Class Reference

Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation