Handle for propagating a single map (position, velocity, or effort) on a single transmission (eg. actuator to joint effort for a simple reducer). More...

#include <transmission_interface.h>

Inheritance diagram for transmission_interface::TransmissionHandle:

[legend]

List of all members.

Public Member Functions
std::string	getName () const
Protected Member Functions
	TransmissionHandle (const std::string &name, Transmission *transmission, const ActuatorData &actuator_data, const JointData &joint_data)
Protected Attributes
ActuatorData	actuator_data_
JointData	joint_data_
std::string	name_
Transmission *	transmission_
Static Private Member Functions
static bool	hasValidPointers (const std::vector< double * > &data)

Detailed Description

Handle for propagating a single map (position, velocity, or effort) on a single transmission (eg. actuator to joint effort for a simple reducer).

Definition at line 48 of file transmission_interface.h.

Constructor & Destructor Documentation

transmission_interface::TransmissionHandle::TransmissionHandle	(	const std::string &	name,
		Transmission *	transmission,
		const ActuatorData &	actuator_data,
		const JointData &	joint_data
	)		`[inline, protected]`

Parameters:

name	Transmission name.
transmission	Pointer to transmission instance.
actuator_data	Actuator-space variables.
joint_data	Joint-space variables.

Note:: The lifecycle of the pointed-to instances passed as parameters is not handled by this class.

Precondition:: Valid transmission pointer. Actuator and joint variable vectors required by this handle must contain valid data and their size should be consistent with the number of transmission actuators and joints. Data vectors not used by this handle can remain empty.

Definition at line 70 of file transmission_interface.h.