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
Actuator *	actuator_
JointState *	joint_
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

Actuator* ros_ethercat_model::Transmission::actuator_

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

Definition at line 88 of file transmission.hpp.

JointState* ros_ethercat_model::Transmission::joint_

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.

std::string ros_ethercat_model::Transmission::name_

the name of the transmission

Definition at line 76 of file transmission.hpp.

---

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

• transmission.hpp