wrist_transmission.h

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/*
 * Author: Melonee Wise

   example xml:
    <robot name="wrist_trans">
      <joint name="right_wrist_flex_joint" type="revolute">
        <limit min="-0.157" max="2.409" effort="5" velocity="5" />
        <axis xyz="0 0 1" />
      </joint>

      <joint name="right_wrist_roll_joint" type="continuous">
        <limit min="0.0" max="0.0" effort="5" velocity="5" />
        <axis xyz="0 0 1" />
      </joint>

      <transmission type="WristTransmission" name="wrist_trans">
        <rightActuator name="right_wrist_r_motor"  mechanicalReduction="60.17"/>
        <leftActuator name="right_wrist_l_motor" mechanicalReduction="60.17"/>
        <flexJoint name="wrist_right_flex_joint" mechanicalReduction="1"/>
        <rollJoint name="wrist_right_roll_joint" mechanicalReduction="1"/>
      </transmission>
    </robot>
 */
#ifndef WRIST_TRANSMISSION_H
#define WRIST_TRANSMISSION_H

#include <tinyxml.h>
#include "pr2_mechanism_model/transmission.h"
#include "pr2_mechanism_model/joint.h"
#include "pr2_hardware_interface/hardware_interface.h"
#include "pr2_mechanism_model/joint_calibration_simulator.h"

namespace pr2_mechanism_model {

class WristTransmission : public Transmission
{
public:
  WristTransmission();
  ~WristTransmission() {}

  bool initXml(TiXmlElement *config, Robot *robot);
  bool initXml(TiXmlElement *config);

  std::vector<double> actuator_reduction_;
  std::vector<double> joint_reduction_;
  double joint_offset_[2];

  // Describes the order of the actuators and the joints in the arrays
  // of names and of those passed to propagate*
  enum { RIGHT_MOTOR, LEFT_MOTOR };
  enum { FLEX_JOINT, ROLL_JOINT };

  void propagatePosition(std::vector<pr2_hardware_interface::Actuator*>&,
                         std::vector<pr2_mechanism_model::JointState*>&);
  void propagatePositionBackwards(std::vector<pr2_mechanism_model::JointState*>&,
                                  std::vector<pr2_hardware_interface::Actuator*>&);
  void propagateEffort(std::vector<pr2_mechanism_model::JointState*>&,
                       std::vector<pr2_hardware_interface::Actuator*>&);
  void propagateEffortBackwards(std::vector<pr2_hardware_interface::Actuator*>&,
                                std::vector<pr2_mechanism_model::JointState*>&);
  void setReductions(std::vector<double>& ar, std::vector<double>& jr);

private:
  int simulated_actuator_timestamp_initialized_;
  ros::Time simulated_actuator_start_time_;

  JointCalibrationSimulator joint_calibration_simulator_[2];
};

} // namespace pr2_mechanism_model

#endif