pr2_examples_gazebo: spring_transmission.h Source File

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00034 /*
00035  * Author: Stuart Glaser
00036  */
00037 #ifndef SIMPLE_TRANSMISSION_H
00038 #define SIMPLE_TRANSMISSION_H
00039 
00040 #include <tinyxml/tinyxml.h>
00041 #include "pr2_mechanism_model/transmission.h"
00042 #include "pr2_mechanism_model/joint.h"
00043 #include "pr2_hardware_interface/hardware_interface.h"
00044 
00045 namespace pr2_examples_gazebo {
00046 
00047 class SpringTransmission : public pr2_mechanism_model::Transmission
00048 {
00049 public:
00050   SpringTransmission() {}
00051   ~SpringTransmission() {}
00052 
00053   bool initXml(TiXmlElement *config, pr2_mechanism_model::Robot *robot);
00054 
00055   double spring_stiffness_,mechanical_reduction_;
00056 
00057   void propagatePosition(std::vector<pr2_hardware_interface::Actuator*>&, 
00058                          std::vector<pr2_mechanism_model::JointState*>&);
00059   void propagatePositionBackwards(std::vector<pr2_mechanism_model::JointState*>&, 
00060                                   std::vector<pr2_hardware_interface::Actuator*>&);
00061   void propagateEffort(std::vector<pr2_mechanism_model::JointState*>&, 
00062                        std::vector<pr2_hardware_interface::Actuator*>&);
00063   void propagateEffortBackwards(std::vector<pr2_hardware_interface::Actuator*>&, 
00064                                 std::vector<pr2_mechanism_model::JointState*>&);
00065 
00066 private:
00067 
00068 };
00069 
00070 } // namespace pr2_examples_gazebo
00071 
00072 #endif