qb_device_transmission_interface::qbDeviceTransmissionResources Class Reference

The qbrobotics Device Transmission Resources is a simple class aimed to group all the transmission_interface:: related structures in a unique place and to provide a flexible interface to manage any transmission interface. More...

#include <qb_device_transmission_resources.h>

Public Member Functions
const TransmissionPtr &	getTransmission ()
void	initialize (const std::string &transmission_name, qb_device_hardware_interface::qbDeviceHWResources &actuators, qb_device_hardware_interface::qbDeviceHWResources &joints)
	Initialize the Device Transmission Resources interfaces. More...
	qbDeviceTransmissionResources ()
	Do nothing. More...
	qbDeviceTransmissionResources (TransmissionPtr &transmission)
	Initialize the transmission Resource. More...
virtual	~qbDeviceTransmissionResources ()
	Do nothing. More...

Public Attributes
transmission_interface::ActuatorToJointStateInterface	actuator_to_joint_state
transmission_interface::JointToActuatorPositionInterface	joint_to_actuator_position

Protected Attributes
std::vector< transmission_interface::ActuatorData >	actuator_commands_
std::vector< transmission_interface::ActuatorData >	actuator_states_
std::vector< transmission_interface::JointData >	joint_commands_
std::vector< transmission_interface::JointData >	joint_states_
TransmissionPtr	transmission_

Private Member Functions
template<class T >
void	setHandleData (std::vector< T > &states, std::vector< T > &commands, qb_device_hardware_interface::qbDeviceHWResources &resource)
	Build the states and commands transmission handle data for the given device HW Resource. More...

Detailed Description

The qbrobotics Device Transmission Resources is a simple class aimed to group all the transmission_interface:: related structures in a unique place and to provide a flexible interface to manage any transmission interface.

Indeed qbhand and qbmove exploit transmission interfaces which are slightly different each other, while the usage is exactly the same.

Definition at line 39 of file qb_device_transmission_resources.h.

Constructor & Destructor Documentation

qb_device_transmission_interface::qbDeviceTransmissionResources::qbDeviceTransmissionResources ( )

inline

Do nothing.

Definition at line 44 of file qb_device_transmission_resources.h.

qb_device_transmission_interface::qbDeviceTransmissionResources::qbDeviceTransmissionResources ( TransmissionPtr &  transmission )

inline

Initialize the transmission Resource.

Parameters

transmission

The shared pointer to the transmission derived from transmission_interface::Transmission.

Definition at line 50 of file qb_device_transmission_resources.h.

virtual qb_device_transmission_interface::qbDeviceTransmissionResources::~qbDeviceTransmissionResources ( )

inlinevirtual

Do nothing.

Definition at line 57 of file qb_device_transmission_resources.h.

Member Function Documentation

const TransmissionPtr& qb_device_transmission_interface::qbDeviceTransmissionResources::getTransmission ( )

inline

Returns

The shared pointer to the current transmission.

Definition at line 62 of file qb_device_transmission_resources.h.

void qb_device_transmission_interface::qbDeviceTransmissionResources::initialize ( const std::string &  transmission_name, qb_device_hardware_interface::qbDeviceHWResources &  actuators, qb_device_hardware_interface::qbDeviceHWResources &  joints  )

inline

Initialize the Device Transmission Resources interfaces.

The interfaces supported are the one which map the actuator state to joint state (position, velocity and effort), i.e. from the physical device to the model representation, and the corresponding reverse interface which map the joint position to the actuator position, since the device is controllable only with motor position references.

Parameters

transmission_name	The transmission name.
actuators	The device HW actuators Resource.
joints	The device HW joints Resource.

See also

setHandleData()

Todo:

Actually qbrobotics devices are controllable both in position and in current (effort), but the joint effort to actuator effort interface is not yet planned to be implemented.

Definition at line 76 of file qb_device_transmission_resources.h.

template<class T >

void qb_device_transmission_interface::qbDeviceTransmissionResources::setHandleData ( std::vector< T > &  states, std::vector< T > &  commands, qb_device_hardware_interface::qbDeviceHWResources &  resource  )

inlineprivate

Build the states and commands transmission handle data for the given device HW Resource.

Template Parameters

T	The transmission handle data type, either <transmission_interface::ActuatorData> or <transmission_interface::JointData> (or somewhat that has position, velocity and effort fields).

Parameters

[out]	states	The transmission handle state data.
[out]	commands	The transmission handle command data.
	resource	The device HW Resource, either actuators or joints.

Definition at line 104 of file qb_device_transmission_resources.h.

Member Data Documentation

std::vector<transmission_interface::ActuatorData> qb_device_transmission_interface::qbDeviceTransmissionResources::actuator_commands_

protected

Definition at line 89 of file qb_device_transmission_resources.h.

std::vector<transmission_interface::ActuatorData> qb_device_transmission_interface::qbDeviceTransmissionResources::actuator_states_

protected

Definition at line 88 of file qb_device_transmission_resources.h.

transmission_interface::ActuatorToJointStateInterface qb_device_transmission_interface::qbDeviceTransmissionResources::actuator_to_joint_state

Definition at line 84 of file qb_device_transmission_resources.h.

std::vector<transmission_interface::JointData> qb_device_transmission_interface::qbDeviceTransmissionResources::joint_commands_

protected

Definition at line 91 of file qb_device_transmission_resources.h.

std::vector<transmission_interface::JointData> qb_device_transmission_interface::qbDeviceTransmissionResources::joint_states_

protected

Definition at line 90 of file qb_device_transmission_resources.h.

transmission_interface::JointToActuatorPositionInterface qb_device_transmission_interface::qbDeviceTransmissionResources::joint_to_actuator_position

Definition at line 85 of file qb_device_transmission_resources.h.

TransmissionPtr qb_device_transmission_interface::qbDeviceTransmissionResources::transmission_

protected

Definition at line 92 of file qb_device_transmission_resources.h.

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

• qb_device_transmission_resources.h