simple_transmission.h
Go to the documentation of this file.
00001 /*********************************************************************
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2008, Willow Garage, Inc.
00005  *  All rights reserved.
00006  *
00007  *  Redistribution and use in source and binary forms, with or without
00008  *  modification, are permitted provided that the following conditions
00009  *  are met:
00010  *
00011  *   * Redistributions of source code must retain the above copyright
00012  *     notice, this list of conditions and the following disclaimer.
00013  *   * Redistributions in binary form must reproduce the above
00014  *     copyright notice, this list of conditions and the following
00015  *     disclaimer in the documentation and/or other materials provided
00016  *     with the distribution.
00017  *   * Neither the name of the Willow Garage nor the names of its
00018  *     contributors may be used to endorse or promote products derived
00019  *     from this software without specific prior written permission.
00020  *
00021  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032  *  POSSIBILITY OF SUCH DAMAGE.
00033  *********************************************************************/
00034 /*
00035  * Author: Stuart Glaser
00036  */
00037 #ifndef SIMPLE_TRANSMISSION_H
00038 #define SIMPLE_TRANSMISSION_H
00039 
00040 #include <tinyxml.h>
00041 #include "pr2_mechanism_model/transmission.h"
00042 #include "pr2_mechanism_model/joint.h"
00043 #include "pr2_hardware_interface/hardware_interface.h"
00044 #include "pr2_mechanism_model/joint_calibration_simulator.h"
00045 
00046 namespace pr2_mechanism_model {
00047 
00048 class SimpleTransmission : public Transmission
00049 {
00050 public:
00051   SimpleTransmission() {use_simulated_actuated_joint_=false;}
00052   ~SimpleTransmission() {}
00053 
00054   bool initXml(TiXmlElement *config, Robot *robot);
00055   bool initXml(TiXmlElement *config);
00056 
00057   double mechanical_reduction_;
00058 
00059   void propagatePosition(std::vector<pr2_hardware_interface::Actuator*>&,
00060                          std::vector<pr2_mechanism_model::JointState*>&);
00061   void propagatePositionBackwards(std::vector<pr2_mechanism_model::JointState*>&,
00062                                   std::vector<pr2_hardware_interface::Actuator*>&);
00063   void propagateEffort(std::vector<pr2_mechanism_model::JointState*>&,
00064                        std::vector<pr2_hardware_interface::Actuator*>&);
00065   void propagateEffortBackwards(std::vector<pr2_hardware_interface::Actuator*>&,
00066                                 std::vector<pr2_mechanism_model::JointState*>&);
00067 
00068 private:
00069   // if a actuated_joint is specified, apply torque based on simulated_reduction_
00070   double simulated_reduction_;
00071   bool use_simulated_actuated_joint_;
00072 
00073   int simulated_actuator_timestamp_initialized_;
00074   ros::Time simulated_actuator_start_time_;
00075 
00076   JointCalibrationSimulator joint_calibration_simulator_;
00077 };
00078 
00079 } // namespace pr2_mechanism_model
00080 
00081 #endif


pr2_mechanism_model
Author(s): Eric Berger berger@willowgarage.com, Stuart Glaser, Wim Meeussen
autogenerated on Mon Dec 2 2013 13:13:02