pr2_mechanism_model::WristTransmission Class Reference

#include <wrist_transmission.h>

Inheritance diagram for pr2_mechanism_model::WristTransmission:

[legend]

List of all members.

Public Types
enum	{ RIGHT_MOTOR, LEFT_MOTOR }
enum	{ FLEX_JOINT, ROLL_JOINT }
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.
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.
void	setReductions (std::vector< double > &ar, std::vector< double > &jr)
	WristTransmission ()
	~WristTransmission ()
Public Attributes
std::vector< double >	actuator_reduction_
std::vector< double >	joint_reduction_
Private Attributes
JointCalibrationSimulator	joint_calibration_simulator_ [2]
ros::Time	simulated_actuator_start_time_
int	simulated_actuator_timestamp_initialized_

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Detailed Description

Definition at line 68 of file wrist_transmission.h.

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Member Enumeration Documentation

anonymous enum

Enumerator:

RIGHT_MOTOR
LEFT_MOTOR

Definition at line 82 of file wrist_transmission.h.

anonymous enum

Enumerator:

FLEX_JOINT
ROLL_JOINT

Definition at line 83 of file wrist_transmission.h.

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Constructor & Destructor Documentation

pr2_mechanism_model::WristTransmission::WristTransmission

(

)

[inline]

Definition at line 71 of file wrist_transmission.h.

pr2_mechanism_model::WristTransmission::~WristTransmission

(

)

[inline]

Definition at line 72 of file wrist_transmission.h.

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Member Function Documentation

bool WristTransmission::initXml

(

TiXmlElement *

config

)

[virtual]

Initializes the transmission from XML data.

Reimplemented from pr2_mechanism_model::Transmission.

Definition at line 142 of file wrist_transmission.cpp.

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

Initializes the transmission from XML data.

Implements pr2_mechanism_model::Transmission.

void pr2_mechanism_model::WristTransmission::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::WristTransmission::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::WristTransmission::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::WristTransmission::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.

void WristTransmission::setReductions	(	std::vector< double > &	ar,
		std::vector< double > &	jr
	)

Definition at line 304 of file wrist_transmission.cpp.

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Member Data Documentation

std::vector<double> pr2_mechanism_model::WristTransmission::actuator_reduction_

Definition at line 77 of file wrist_transmission.h.

JointCalibrationSimulator pr2_mechanism_model::WristTransmission::joint_calibration_simulator_[2] [private]

Definition at line 99 of file wrist_transmission.h.

std::vector<double> pr2_mechanism_model::WristTransmission::joint_reduction_

Definition at line 78 of file wrist_transmission.h.

ros::Time pr2_mechanism_model::WristTransmission::simulated_actuator_start_time_ [private]

Definition at line 97 of file wrist_transmission.h.

int pr2_mechanism_model::WristTransmission::simulated_actuator_timestamp_initialized_ [private]

Definition at line 96 of file wrist_transmission.h.

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

• wrist_transmission.h
• wrist_transmission.cpp