pr2_belt_transmission.h
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29 
30 #ifndef PR2_BELT_COMPENSATOR_TRANSMISSION_H
31 #define PR2_BELT_COMPENSATOR_TRANSMISSION_H
32 
33 #include <tinyxml.h>
34 
40 
41 namespace pr2_mechanism_model {
42 
48 {
49 public:
52 
53  bool initXml(TiXmlElement *config, Robot *robot);
54  bool initXml(TiXmlElement *config);
55 
56  void propagatePosition(std::vector<pr2_hardware_interface::Actuator*>&,
57  std::vector<pr2_mechanism_model::JointState*>&);
58  void propagatePositionBackwards(std::vector<pr2_mechanism_model::JointState*>&,
59  std::vector<pr2_hardware_interface::Actuator*>&);
60  void propagateEffort(std::vector<pr2_mechanism_model::JointState*>&,
61  std::vector<pr2_hardware_interface::Actuator*>&);
62  void propagateEffortBackwards(std::vector<pr2_hardware_interface::Actuator*>&,
63  std::vector<pr2_mechanism_model::JointState*>&);
64 
65 private:
67  double dt;
68 
69  // Transmission parameters
71  double trans_compl_; // Transmission compliance
72  double trans_tau_; // Transmission time constant
73  double Kd_motor_; // Motor damping gain
74  double lambda_motor_; // Damping cutoff bandwidth
75  double lambda_joint_; // Joint estimate rolloff bandwidth
76  double lambda_combo_; // Estimate combination crossover bandwidth
77 
80 
84 
88 
91 
94 
95 
96  // Backward transmission states
99 
101 
105 
108 
111 
112 
114 };
115 
116 } // namespace
117 
118 #endif
void propagateEffortBackwards(std::vector< pr2_hardware_interface::Actuator * > &, std::vector< pr2_mechanism_model::JointState * > &)
Uses the actuator&#39;s commanded effort to fill out the torque on the joint.
bool initXml(TiXmlElement *config, Robot *robot)
Initializes the transmission from XML data.
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&#39;s encoder.
void propagateEffort(std::vector< pr2_mechanism_model::JointState * > &, std::vector< pr2_hardware_interface::Actuator * > &)
Uses commanded joint efforts to fill out commanded motor currents.
This class provides the controllers with an interface to the robot model.
Definition: robot.h:78


pr2_mechanism_model
Author(s): Eric Berger berger@willowgarage.com, Stuart Glaser, Wim Meeussen
autogenerated on Mon Jun 10 2019 14:19:04