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pr2_mechanism_model::SimpleTransmission Class Reference

#include <simple_transmission.h>

Inheritance diagram for pr2_mechanism_model::SimpleTransmission:
Inheritance graph
[legend]

List of all members.

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.
 SimpleTransmission ()
 ~SimpleTransmission ()

Public Attributes

double mechanical_reduction_

Private Attributes

JointCalibrationSimulator joint_calibration_simulator_
ros::Time simulated_actuator_start_time_
int simulated_actuator_timestamp_initialized_
double simulated_reduction_
bool use_simulated_actuated_joint_

Detailed Description

Definition at line 48 of file simple_transmission.h.


Constructor & Destructor Documentation

pr2_mechanism_model::SimpleTransmission::SimpleTransmission (  )  [inline]

Definition at line 51 of file simple_transmission.h.

pr2_mechanism_model::SimpleTransmission::~SimpleTransmission (  )  [inline]

Definition at line 52 of file simple_transmission.h.


Member Function Documentation

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

Initializes the transmission from XML data.

Reimplemented from pr2_mechanism_model::Transmission.

Definition at line 128 of file simple_transmission.cpp.

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

Initializes the transmission from XML data.

Implements pr2_mechanism_model::Transmission.

void pr2_mechanism_model::SimpleTransmission::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::SimpleTransmission::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::SimpleTransmission::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::SimpleTransmission::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.


Member Data Documentation

Definition at line 76 of file simple_transmission.h.

Definition at line 57 of file simple_transmission.h.

Definition at line 74 of file simple_transmission.h.

Definition at line 73 of file simple_transmission.h.

Definition at line 70 of file simple_transmission.h.

Definition at line 71 of file simple_transmission.h.


The documentation for this class was generated from the following files:
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pr2_mechanism_model
Author(s): Eric Berger berger@willowgarage.com, Stuart Glaser, Wim Meeussen
autogenerated on Fri Mar 1 17:03:38 2013