wrist_transmission.h
Go to the documentation of this file.00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 /* 00035 * Author: Melonee Wise 00036 00037 example xml: 00038 <robot name="wrist_trans"> 00039 <joint name="right_wrist_flex_joint" type="revolute"> 00040 <limit min="-0.157" max="2.409" effort="5" velocity="5" /> 00041 <axis xyz="0 0 1" /> 00042 </joint> 00043 00044 <joint name="right_wrist_roll_joint" type="continuous"> 00045 <limit min="0.0" max="0.0" effort="5" velocity="5" /> 00046 <axis xyz="0 0 1" /> 00047 </joint> 00048 00049 <transmission type="WristTransmission" name="wrist_trans"> 00050 <rightActuator name="right_wrist_r_motor" mechanicalReduction="60.17"/> 00051 <leftActuator name="right_wrist_l_motor" mechanicalReduction="60.17"/> 00052 <flexJoint name="wrist_right_flex_joint" mechanicalReduction="1"/> 00053 <rollJoint name="wrist_right_roll_joint" mechanicalReduction="1"/> 00054 </transmission> 00055 </robot> 00056 */ 00057 #ifndef WRIST_TRANSMISSION_H 00058 #define WRIST_TRANSMISSION_H 00059 00060 #include <tinyxml/tinyxml.h> 00061 #include "pr2_mechanism_model/transmission.h" 00062 #include "pr2_mechanism_model/joint.h" 00063 #include "pr2_hardware_interface/hardware_interface.h" 00064 #include "pr2_mechanism_model/joint_calibration_simulator.h" 00065 00066 namespace pr2_mechanism_model { 00067 00068 class WristTransmission : public Transmission 00069 { 00070 public: 00071 WristTransmission() {} 00072 ~WristTransmission() {} 00073 00074 bool initXml(TiXmlElement *config, Robot *robot); 00075 bool initXml(TiXmlElement *config); 00076 00077 std::vector<double> actuator_reduction_; 00078 std::vector<double> joint_reduction_; 00079 00080 // Describes the order of the actuators and the joints in the arrays 00081 // of names and of those passed to propagate* 00082 enum { RIGHT_MOTOR, LEFT_MOTOR }; 00083 enum { FLEX_JOINT, ROLL_JOINT }; 00084 00085 void propagatePosition(std::vector<pr2_hardware_interface::Actuator*>&, 00086 std::vector<pr2_mechanism_model::JointState*>&); 00087 void propagatePositionBackwards(std::vector<pr2_mechanism_model::JointState*>&, 00088 std::vector<pr2_hardware_interface::Actuator*>&); 00089 void propagateEffort(std::vector<pr2_mechanism_model::JointState*>&, 00090 std::vector<pr2_hardware_interface::Actuator*>&); 00091 void propagateEffortBackwards(std::vector<pr2_hardware_interface::Actuator*>&, 00092 std::vector<pr2_mechanism_model::JointState*>&); 00093 void setReductions(std::vector<double>& ar, std::vector<double>& jr); 00094 00095 private: 00096 int simulated_actuator_timestamp_initialized_; 00097 ros::Time simulated_actuator_start_time_; 00098 00099 JointCalibrationSimulator joint_calibration_simulator_[2]; 00100 }; 00101 00102 } // namespace pr2_mechanism_model 00103 00104 #endif