pr2_mechanism_model: simple_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 #include "pr2_mechanism_model/joint_calibration_simulator.h"
00045 
00046 namespace pr2_mechanism_model {
00047 
00048 class SimpleTransmission : public Transmission
00049 {
00050 public:
00051   SimpleTransmission() {}
00052   ~SimpleTransmission() {}
00053 
00054   bool initXml(TiXmlElement *config, Robot *robot);
00055   bool initXml(TiXmlElement *config);
00056 
00057   double mechanical_reduction_;
00058 
00059   void propagatePosition(std::vector<pr2_hardware_interface::Actuator*>&,
00060                          std::vector<pr2_mechanism_model::JointState*>&);
00061   void propagatePositionBackwards(std::vector<pr2_mechanism_model::JointState*>&,
00062                                   std::vector<pr2_hardware_interface::Actuator*>&);
00063   void propagateEffort(std::vector<pr2_mechanism_model::JointState*>&,
00064                        std::vector<pr2_hardware_interface::Actuator*>&);
00065   void propagateEffortBackwards(std::vector<pr2_hardware_interface::Actuator*>&,
00066                                 std::vector<pr2_mechanism_model::JointState*>&);
00067 
00068 private:
00069   int simulated_actuator_timestamp_initialized_;
00070   ros::Time simulated_actuator_start_time_;
00071 
00072   JointCalibrationSimulator joint_calibration_simulator_;
00073 };
00074 
00075 } // namespace pr2_mechanism_model
00076 
00077 #endif