simple_transmission.h

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/*
 * Author: Stuart Glaser
 */
#ifndef SIMPLE_TRANSMISSION_H
#define SIMPLE_TRANSMISSION_H

#include <tinyxml.h>
#include "pr2_mechanism_model/transmission.h"
#include "pr2_mechanism_model/joint.h"
#include "pr2_hardware_interface/hardware_interface.h"
#include "pr2_mechanism_model/joint_calibration_simulator.h"

namespace pr2_mechanism_model {

class SimpleTransmission : public Transmission
{
public:
  SimpleTransmission() {use_simulated_actuated_joint_=false;}
  ~SimpleTransmission() {}

  bool initXml(TiXmlElement *config, Robot *robot);
  bool initXml(TiXmlElement *config);

  double mechanical_reduction_;

  void propagatePosition(std::vector<pr2_hardware_interface::Actuator*>&,
                         std::vector<pr2_mechanism_model::JointState*>&);
  void propagatePositionBackwards(std::vector<pr2_mechanism_model::JointState*>&,
                                  std::vector<pr2_hardware_interface::Actuator*>&);
  void propagateEffort(std::vector<pr2_mechanism_model::JointState*>&,
                       std::vector<pr2_hardware_interface::Actuator*>&);
  void propagateEffortBackwards(std::vector<pr2_hardware_interface::Actuator*>&,
                                std::vector<pr2_mechanism_model::JointState*>&);

private:
  // if a actuated_joint is specified, apply torque based on simulated_reduction_
  double simulated_reduction_;
  bool use_simulated_actuated_joint_;

  int simulated_actuator_timestamp_initialized_;
  ros::Time simulated_actuator_start_time_;

  JointCalibrationSimulator joint_calibration_simulator_;
};

} // namespace pr2_mechanism_model

#endif