#include <simple_transmission.h>
Public Member Functions | |
bool | initXml (TiXmlElement *config, Robot *robot) |
Initializes the transmission from XML data. | |
bool | initXml (TiXmlElement *config) |
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_ |
Definition at line 48 of file simple_transmission.h.
Definition at line 51 of file simple_transmission.h.
Definition at line 52 of file simple_transmission.h.
bool pr2_mechanism_model::SimpleTransmission::initXml | ( | TiXmlElement * | config, |
Robot * | robot | ||
) | [virtual] |
Initializes the transmission from XML data.
Implements pr2_mechanism_model::Transmission.
bool SimpleTransmission::initXml | ( | TiXmlElement * | config | ) | [virtual] |
Initializes the transmission from XML data.
Reimplemented from pr2_mechanism_model::Transmission.
Definition at line 127 of file simple_transmission.cpp.
void 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.
Definition at line 243 of file simple_transmission.cpp.
void 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.
Definition at line 253 of file simple_transmission.cpp.
void 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.
Definition at line 187 of file simple_transmission.cpp.
void 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.
Definition at line 208 of file simple_transmission.cpp.
JointCalibrationSimulator pr2_mechanism_model::SimpleTransmission::joint_calibration_simulator_ [private] |
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.
double pr2_mechanism_model::SimpleTransmission::simulated_reduction_ [private] |
Definition at line 70 of file simple_transmission.h.
Definition at line 71 of file simple_transmission.h.