simple_transmission.h
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00034 /*
00035  * Author: Stuart Glaser
00036  *
00037  * modified by Ugo Cupcic
00038  */
00039 #ifndef _SR_SIMPLE_TRANSMISSION_H_
00040 #define _SR_SIMPLE_TRANSMISSION_H_
00041 
00042 #include <tinyxml.h>
00043 #include "pr2_mechanism_model/transmission.h"
00044 #include "pr2_mechanism_model/joint.h"
00045 #include "pr2_hardware_interface/hardware_interface.h"
00046 #include "pr2_mechanism_model/joint_calibration_simulator.h"
00047 
00048 namespace sr_mechanism_model {
00049 
00050         class SimpleTransmission : public pr2_mechanism_model::Transmission
00051         {
00052         public:
00053                 SimpleTransmission() {}
00054                 ~SimpleTransmission() {}
00055 
00056                 bool initXml(TiXmlElement *config, pr2_mechanism_model::Robot *robot);
00057                 bool initXml(TiXmlElement *config);
00058 
00059                 double mechanical_reduction_;
00060 
00061                 void propagatePosition(std::vector<pr2_hardware_interface::Actuator*>&,
00062                                        std::vector<pr2_mechanism_model::JointState*>&);
00063                 void propagatePositionBackwards(std::vector<pr2_mechanism_model::JointState*>&,
00064                                                 std::vector<pr2_hardware_interface::Actuator*>&);
00065                 void propagateEffort(std::vector<pr2_mechanism_model::JointState*>&,
00066                                      std::vector<pr2_hardware_interface::Actuator*>&);
00067                 void propagateEffortBackwards(std::vector<pr2_hardware_interface::Actuator*>&,
00068                                               std::vector<pr2_mechanism_model::JointState*>&);
00069 
00070         private:
00071                 int simulated_actuator_timestamp_initialized_;
00072                 ros::Time simulated_actuator_start_time_;
00073 
00074                 pr2_mechanism_model::JointCalibrationSimulator joint_calibration_simulator_;
00075         };
00076 
00077 } // namespace pr2_mechanism_model
00078 
00079 #endif


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