Implementation of a simple reducer transmission. More...
#include <simple_transmission.h>
Public Member Functions | |
void | actuatorToJointEffort (const ActuatorData &act_data, JointData &jnt_data) |
Transform effort variables from actuator to joint space. | |
void | actuatorToJointPosition (const ActuatorData &act_data, JointData &jnt_data) |
Transform position variables from actuator to joint space. | |
void | actuatorToJointVelocity (const ActuatorData &act_data, JointData &jnt_data) |
Transform velocity variables from actuator to joint space. | |
double | getActuatorReduction () const |
double | getJointOffset () const |
void | jointToActuatorEffort (const JointData &jnt_data, ActuatorData &act_data) |
Transform effort variables from joint to actuator space. | |
void | jointToActuatorPosition (const JointData &jnt_data, ActuatorData &act_data) |
Transform position variables from joint to actuator space. | |
void | jointToActuatorVelocity (const JointData &jnt_data, ActuatorData &act_data) |
Transform velocity variables from joint to actuator space. | |
std::size_t | numActuators () const |
std::size_t | numJoints () const |
SimpleTransmission (const double reduction, const double joint_offset=0.0) | |
Private Attributes | |
double | jnt_offset_ |
double | reduction_ |
Implementation of a simple reducer transmission.
This transmission relates one actuator and one joint through a reductor (or amplifier). Timing belts and gears are examples of this transmission type, and are illustrated below.
Actuator to joint |
|
|
|
Joint to actuator |
|
|
|
where:
Definition at line 95 of file simple_transmission.h.
transmission_interface::SimpleTransmission::SimpleTransmission | ( | const double | reduction, |
const double | joint_offset = 0.0 |
||
) | [inline] |
reduction | Reduction ratio. |
joint_offset | Joint position offset used in the position mappings. |
Definition at line 177 of file simple_transmission.h.
void transmission_interface::SimpleTransmission::actuatorToJointEffort | ( | const ActuatorData & | act_data, |
JointData & | jnt_data | ||
) | [inline, virtual] |
Transform effort variables from actuator to joint space.
[in] | act_data | Actuator-space variables. |
[out] | jnt_data | Joint-space variables. |
Implements transmission_interface::Transmission.
Definition at line 189 of file simple_transmission.h.
void transmission_interface::SimpleTransmission::actuatorToJointPosition | ( | const ActuatorData & | act_data, |
JointData & | jnt_data | ||
) | [inline, virtual] |
Transform position variables from actuator to joint space.
[in] | act_data | Actuator-space variables. |
[out] | jnt_data | Joint-space variables. |
Implements transmission_interface::Transmission.
Definition at line 207 of file simple_transmission.h.
void transmission_interface::SimpleTransmission::actuatorToJointVelocity | ( | const ActuatorData & | act_data, |
JointData & | jnt_data | ||
) | [inline, virtual] |
Transform velocity variables from actuator to joint space.
[in] | act_data | Actuator-space variables. |
[out] | jnt_data | Joint-space variables. |
Implements transmission_interface::Transmission.
Definition at line 198 of file simple_transmission.h.
double transmission_interface::SimpleTransmission::getActuatorReduction | ( | ) | const [inline] |
Definition at line 169 of file simple_transmission.h.
double transmission_interface::SimpleTransmission::getJointOffset | ( | ) | const [inline] |
Definition at line 170 of file simple_transmission.h.
void transmission_interface::SimpleTransmission::jointToActuatorEffort | ( | const JointData & | jnt_data, |
ActuatorData & | act_data | ||
) | [inline, virtual] |
Transform effort variables from joint to actuator space.
[in] | jnt_data | Joint-space variables. |
[out] | act_data | Actuator-space variables. |
Implements transmission_interface::Transmission.
Definition at line 216 of file simple_transmission.h.
void transmission_interface::SimpleTransmission::jointToActuatorPosition | ( | const JointData & | jnt_data, |
ActuatorData & | act_data | ||
) | [inline, virtual] |
Transform position variables from joint to actuator space.
[in] | jnt_data | Joint-space variables. |
[out] | act_data | Actuator-space variables. |
Implements transmission_interface::Transmission.
Definition at line 234 of file simple_transmission.h.
void transmission_interface::SimpleTransmission::jointToActuatorVelocity | ( | const JointData & | jnt_data, |
ActuatorData & | act_data | ||
) | [inline, virtual] |
Transform velocity variables from joint to actuator space.
[in] | jnt_data | Joint-space variables. |
[out] | act_data | Actuator-space variables. |
Implements transmission_interface::Transmission.
Definition at line 225 of file simple_transmission.h.
std::size_t transmission_interface::SimpleTransmission::numActuators | ( | ) | const [inline, virtual] |
Implements transmission_interface::Transmission.
Definition at line 166 of file simple_transmission.h.
std::size_t transmission_interface::SimpleTransmission::numJoints | ( | ) | const [inline, virtual] |
Implements transmission_interface::Transmission.
Definition at line 167 of file simple_transmission.h.
double transmission_interface::SimpleTransmission::jnt_offset_ [private] |
Definition at line 174 of file simple_transmission.h.
double transmission_interface::SimpleTransmission::reduction_ [private] |
Definition at line 173 of file simple_transmission.h.