joint_0_transmission.hpp
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00001 
00029 #ifndef _JOINT_0_TRANSMISSION_HPP_
00030 #define _JOINT_0_TRANSMISSION_HPP_
00031 
00032 #include <tinyxml.h>
00033 #include "pr2_mechanism_model/transmission.h"
00034 #include "pr2_mechanism_model/joint.h"
00035 #include "pr2_hardware_interface/hardware_interface.h"
00036 #include "pr2_mechanism_model/joint_calibration_simulator.h"
00037 
00038 namespace sr_mechanism_model
00039 {
00040   class J0Transmission : public pr2_mechanism_model::Transmission
00041   {
00042   public:
00043     J0Transmission() {}
00044     ~J0Transmission() {}
00045 
00046     bool initXml(TiXmlElement *config, pr2_mechanism_model::Robot *robot);
00047     bool initXml(TiXmlElement *config);
00048 
00049     double mechanical_reduction_;
00050 
00051     void propagatePosition(std::vector<pr2_hardware_interface::Actuator*>&,
00052                            std::vector<pr2_mechanism_model::JointState*>&);
00053     void propagatePositionBackwards(std::vector<pr2_mechanism_model::JointState*>&,
00054                                     std::vector<pr2_hardware_interface::Actuator*>&);
00055     void propagateEffort(std::vector<pr2_mechanism_model::JointState*>&,
00056                          std::vector<pr2_hardware_interface::Actuator*>&);
00057     void propagateEffortBackwards(std::vector<pr2_hardware_interface::Actuator*>&,
00058                                   std::vector<pr2_mechanism_model::JointState*>&);
00059 
00060   private:
00061     int simulated_actuator_timestamp_initialized_;
00062     ros::Time simulated_actuator_start_time_;
00063 
00064     pr2_mechanism_model::JointCalibrationSimulator joint_calibration_simulator_;
00065 
00066     bool init_joint(TiXmlElement *jel, pr2_mechanism_model::Robot *robot);
00067   };
00068 
00069 } //end namespace sr_mechanism_model
00070 
00071 /* For the emacs weenies in the crowd.
00072 Local Variables:
00073    c-basic-offset: 2
00074 End:
00075 */
00076 
00077 #endif


sr_mechanism_model
Author(s): Ugo Cupcic / ugo@shadowrobot.com , contact@shadowrobot.com
autogenerated on Fri Jan 3 2014 12:04:56