pr2_mechanism_model::Transmission Class Reference

#include <transmission.h>

Inheritance diagram for pr2_mechanism_model::Transmission:

[legend]

List of all members.

Public Member Functions
virtual bool	initXml (TiXmlElement *config)
	Initializes the transmission from XML data.
virtual bool	initXml (TiXmlElement *config, Robot *robot)=0
	Initializes the transmission from XML data.
virtual void	propagateEffort (std::vector< pr2_mechanism_model::JointState * > &, std::vector< pr2_hardware_interface::Actuator * > &)=0
	Uses commanded joint efforts to fill out commanded motor currents.
virtual void	propagateEffortBackwards (std::vector< pr2_hardware_interface::Actuator * > &, std::vector< pr2_mechanism_model::JointState * > &)=0
	Uses the actuator's commanded effort to fill out the torque on the joint.
virtual void	propagatePosition (std::vector< pr2_hardware_interface::Actuator * > &, std::vector< pr2_mechanism_model::JointState * > &)=0
	Uses encoder data to fill out joint position and velocities.
virtual void	propagatePositionBackwards (std::vector< pr2_mechanism_model::JointState * > &, std::vector< pr2_hardware_interface::Actuator * > &)=0
	Uses the joint position to fill out the actuator's encoder.
	Transmission ()
	Constructor.
virtual	~Transmission ()
	Destructor.
Public Attributes
std::vector< std::string >	actuator_names_
std::vector< std::string >	joint_names_
std::string	name_
	the name of the transmission

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Detailed Description

Definition at line 48 of file transmission.h.

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Constructor & Destructor Documentation

pr2_mechanism_model::Transmission::Transmission

(

)

[inline]

Constructor.

Definition at line 52 of file transmission.h.

virtual pr2_mechanism_model::Transmission::~Transmission

(

)

[inline, virtual]

Destructor.

Definition at line 55 of file transmission.h.

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Member Function Documentation

virtual bool pr2_mechanism_model::Transmission::initXml

(

TiXmlElement *

config

)

[inline, virtual]

Initializes the transmission from XML data.

Reimplemented in pr2_mechanism_model::PR2BeltCompensatorTransmission, pr2_mechanism_model::PR2GripperTransmission, pr2_mechanism_model::SimpleTransmission, and pr2_mechanism_model::WristTransmission.

Definition at line 96 of file transmission.h.

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

Initializes the transmission from XML data.

Implemented in pr2_mechanism_model::PR2BeltCompensatorTransmission, pr2_mechanism_model::PR2GripperTransmission, pr2_mechanism_model::SimpleTransmission, and pr2_mechanism_model::WristTransmission.

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

Uses commanded joint efforts to fill out commanded motor currents.

Implemented in pr2_mechanism_model::PR2BeltCompensatorTransmission, pr2_mechanism_model::PR2GripperTransmission, pr2_mechanism_model::SimpleTransmission, and pr2_mechanism_model::WristTransmission.

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

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

Implemented in pr2_mechanism_model::PR2BeltCompensatorTransmission, pr2_mechanism_model::PR2GripperTransmission, pr2_mechanism_model::SimpleTransmission, and pr2_mechanism_model::WristTransmission.

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

Uses encoder data to fill out joint position and velocities.

Implemented in pr2_mechanism_model::PR2BeltCompensatorTransmission, pr2_mechanism_model::PR2GripperTransmission, pr2_mechanism_model::SimpleTransmission, and pr2_mechanism_model::WristTransmission.

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

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

Implemented in pr2_mechanism_model::PR2BeltCompensatorTransmission, pr2_mechanism_model::PR2GripperTransmission, pr2_mechanism_model::SimpleTransmission, and pr2_mechanism_model::WristTransmission.

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Member Data Documentation

std::vector<std::string> pr2_mechanism_model::Transmission::actuator_names_

Specifies the names of the actuators that this transmission uses. In the propagate* methods, the order of actuators and joints in the parameters matches the order in actuator_names_ and in joint_names_.

Definition at line 85 of file transmission.h.

std::vector<std::string> pr2_mechanism_model::Transmission::joint_names_

Specifies the names of the joints that this transmission uses. In the propagate* methods, the order of actuators and joints in the parameters matches the order in actuator_names_ and in joint_names_.

Definition at line 93 of file transmission.h.

std::string pr2_mechanism_model::Transmission::name_

the name of the transmission

Definition at line 77 of file transmission.h.

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

• transmission.h