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pr2_mechanism_model::Transmission Class Reference

#include <transmission.h>

Inheritance diagram for pr2_mechanism_model::Transmission:
Inheritance graph
[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

Detailed Description

Definition at line 48 of file transmission.h.


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.


Member Function Documentation

virtual bool pr2_mechanism_model::Transmission::initXml ( TiXmlElement *  config  )  [inline, virtual]
virtual bool pr2_mechanism_model::Transmission::initXml ( TiXmlElement *  config,
Robot robot 
) [pure virtual]
virtual void pr2_mechanism_model::Transmission::propagateEffort ( std::vector< pr2_mechanism_model::JointState * > &  ,
std::vector< pr2_hardware_interface::Actuator * > &   
) [pure virtual]
virtual void pr2_mechanism_model::Transmission::propagateEffortBackwards ( std::vector< pr2_hardware_interface::Actuator * > &  ,
std::vector< pr2_mechanism_model::JointState * > &   
) [pure virtual]
virtual void pr2_mechanism_model::Transmission::propagatePosition ( std::vector< pr2_hardware_interface::Actuator * > &  ,
std::vector< pr2_mechanism_model::JointState * > &   
) [pure virtual]
virtual void pr2_mechanism_model::Transmission::propagatePositionBackwards ( std::vector< pr2_mechanism_model::JointState * > &  ,
std::vector< pr2_hardware_interface::Actuator * > &   
) [pure virtual]

Member Data Documentation

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.

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.

the name of the transmission

Definition at line 77 of file transmission.h.


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