Public Member Functions | Public Attributes
ros_ethercat_model::Transmission Class Reference

#include <transmission.hpp>

List of all members.

Public Member Functions

virtual bool initXml (TiXmlElement *config, RobotState *robot)
 Initializes the transmission from XML data.
virtual void propagateEffort ()
 Uses commanded joint efforts to fill out commanded motor currents.
virtual void propagatePosition ()
 Uses encoder data to fill out joint position and velocities.
virtual ~Transmission ()
 Destructor.

Public Attributes

Actuatoractuator_
JointStatejoint_
std::string name_
 the name of the transmission

Detailed Description

Definition at line 50 of file transmission.hpp.


Constructor & Destructor Documentation

virtual ros_ethercat_model::Transmission::~Transmission ( ) [inline, virtual]

Destructor.

Definition at line 55 of file transmission.hpp.


Member Function Documentation

virtual bool ros_ethercat_model::Transmission::initXml ( TiXmlElement *  config,
RobotState robot 
) [inline, virtual]

Initializes the transmission from XML data.

Definition at line 61 of file transmission.hpp.

virtual void ros_ethercat_model::Transmission::propagateEffort ( ) [inline, virtual]

Uses commanded joint efforts to fill out commanded motor currents.

Definition at line 74 of file transmission.hpp.

virtual void ros_ethercat_model::Transmission::propagatePosition ( ) [inline, virtual]

Uses encoder data to fill out joint position and velocities.

Definition at line 69 of file transmission.hpp.


Member Data Documentation

The actuator that this transmission handles. Child classes may add more actuators if they need them.

Definition at line 88 of file transmission.hpp.

The state of the main joint that this transmission handles. Child classes may add more joints if they need them. JointState object owned by RobotState object.

Definition at line 84 of file transmission.hpp.

the name of the transmission

Definition at line 76 of file transmission.hpp.


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


ros_ethercat_model
Author(s): Manos Nikolaidis
autogenerated on Thu Aug 27 2015 14:47:12