pr2_mechanism_model::SimpleTransmission Class Reference

#include <simple_transmission.h>

Inheritance diagram for pr2_mechanism_model::SimpleTransmission:

List of all members.

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_

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Detailed Description

Definition at line 48 of file simple_transmission.h.

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Constructor & Destructor Documentation

pr2_mechanism_model::SimpleTransmission::SimpleTransmission

(

)

[inline]

Definition at line 51 of file simple_transmission.h.

pr2_mechanism_model::SimpleTransmission::~SimpleTransmission

(

)

[inline]

Definition at line 52 of file simple_transmission.h.

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Member Function Documentation

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.

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Member Data Documentation

JointCalibrationSimulator pr2_mechanism_model::SimpleTransmission::joint_calibration_simulator_ [private]

Definition at line 76 of file simple_transmission.h.

double pr2_mechanism_model::SimpleTransmission::mechanical_reduction_

Definition at line 57 of file simple_transmission.h.

ros::Time pr2_mechanism_model::SimpleTransmission::simulated_actuator_start_time_ [private]

Definition at line 74 of file simple_transmission.h.

int pr2_mechanism_model::SimpleTransmission::simulated_actuator_timestamp_initialized_ [private]

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.

bool pr2_mechanism_model::SimpleTransmission::use_simulated_actuated_joint_ [private]

Definition at line 71 of file simple_transmission.h.

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The documentation for this class was generated from the following files:

• simple_transmission.h
• simple_transmission.cpp