pr2_mechanism_model::PR2GripperTransmission Class Reference

#include <pr2_gripper_transmission.h>

Inheritance diagram for pr2_mechanism_model::PR2GripperTransmission:

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.
	PR2GripperTransmission ()
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.
virtual	~PR2GripperTransmission ()
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_
ros::Time	simulated_actuator_start_time_
int	simulated_actuator_timestamp_initialized_
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 55 of file pr2_gripper_transmission.h.

Constructor & Destructor Documentation

pr2_mechanism_model::PR2GripperTransmission::PR2GripperTransmission ( ) [inline]

Definition at line 58 of file pr2_gripper_transmission.h.

virtual pr2_mechanism_model::PR2GripperTransmission::~PR2GripperTransmission ( ) [inline, virtual]

Definition at line 59 of file pr2_gripper_transmission.h.

Member Function Documentation

void PR2GripperTransmission::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 488 of file pr2_gripper_transmission.cpp.

void pr2_mechanism_model::PR2GripperTransmission::getRateFromMaxRateJoint	(	std::vector< pr2_mechanism_model::JointState * > &	js,
		std::vector< pr2_hardware_interface::Actuator * > &	as,
		int &	maxRateJointIndex,
		double &	rate
	)			`[private]`

bool PR2GripperTransmission::initXml ( TiXmlElement * config ) [virtual]

Initializes the transmission from XML data.

Reimplemented from pr2_mechanism_model::Transmission.

Definition at line 331 of file pr2_gripper_transmission.cpp.

bool pr2_mechanism_model::PR2GripperTransmission::initXml	(	TiXmlElement *	config,
		Robot *	robot
	)			`[virtual]`

Initializes the transmission from XML data.

Implements pr2_mechanism_model::Transmission.

void PR2GripperTransmission::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 545 of file pr2_gripper_transmission.cpp.

void pr2_mechanism_model::PR2GripperTransmission::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::PR2GripperTransmission::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::PR2GripperTransmission::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::PR2GripperTransmission::propagatePositionBackwards	(	std::vector< pr2_mechanism_model::JointState * > &	,
		std::vector< pr2_hardware_interface::Actuator * > &
	)			`[virtual]`