#include <simple_transmission.h>

Inheritance diagram for pr2_mechanism_model::SimpleTransmission:

Public Member Functions
bool	initXml (TiXmlElement config, Robot robot)
	Initializes the transmission from XML data. More...

bool	initXml (TiXmlElement *config)
	Initializes the transmission from XML data. More...

void	propagateEffort (std::vector< pr2_mechanism_model::JointState * > &, std::vector< pr2_hardware_interface::Actuator * > &)
	Uses commanded joint efforts to fill out commanded motor currents. More...

void	propagateEffortBackwards (std::vector< pr2_hardware_interface::Actuator * > &, std::vector< pr2_mechanism_model::JointState * > &)
	Uses the actuator's commanded effort to fill out the torque on the joint. More...

void	propagatePosition (std::vector< pr2_hardware_interface::Actuator * > &, std::vector< pr2_mechanism_model::JointState * > &)
	Uses encoder data to fill out joint position and velocities. More...

void	propagatePositionBackwards (std::vector< pr2_mechanism_model::JointState * > &, std::vector< pr2_hardware_interface::Actuator * > &)
	Uses the joint position to fill out the actuator's encoder. More...

	SimpleTransmission ()

	~SimpleTransmission ()

Public Member Functions inherited from pr2_mechanism_model::Transmission
	Transmission ()
	Constructor. More...

virtual	~Transmission ()
	Destructor. More...

Public Attributes
double	mechanical_reduction_

Public Attributes inherited from pr2_mechanism_model::Transmission
std::vector< std::string >	actuator_names_

std::vector< std::string >	joint_names_

std::string	name_
	the name of the transmission More...

Private Attributes
JointCalibrationSimulator	joint_calibration_simulator_

ros::Time	simulated_actuator_start_time_

int	simulated_actuator_timestamp_initialized_

double	simulated_reduction_

bool	use_simulated_actuated_joint_

Detailed Description

Definition at line 48 of file simple_transmission.h.

Constructor & Destructor Documentation

pr2_mechanism_model::SimpleTransmission::SimpleTransmission ( )

inline

Definition at line 51 of file simple_transmission.h.

pr2_mechanism_model::SimpleTransmission::~SimpleTransmission ( )

inline

Definition at line 52 of file simple_transmission.h.

Member Function Documentation

bool pr2_mechanism_model::SimpleTransmission::initXml	(	TiXmlElement *	config,
		Robot *	robot
	)

virtual

Initializes the transmission from XML data.

Implements pr2_mechanism_model::Transmission.

bool SimpleTransmission::initXml ( TiXmlElement * config )

virtual

Initializes the transmission from XML data.

Reimplemented from pr2_mechanism_model::Transmission.

Definition at line 127 of file simple_transmission.cpp.

void SimpleTransmission::propagateEffort	(	std::vector< pr2_mechanism_model::JointState * > &	,
		std::vector< pr2_hardware_interface::Actuator * > &
	)

virtual

Uses commanded joint efforts to fill out commanded motor currents.

Implements pr2_mechanism_model::Transmission.

Definition at line 243 of file simple_transmission.cpp.

void SimpleTransmission::propagateEffortBackwards	(	std::vector< pr2_hardware_interface::Actuator * > &	,
		std::vector< pr2_mechanism_model::JointState * > &
	)

virtual

Uses the actuator's commanded effort to fill out the torque on the joint.

Implements pr2_mechanism_model::Transmission.

Definition at line 253 of file simple_transmission.cpp.

void SimpleTransmission::propagatePosition	(	std::vector< pr2_hardware_interface::Actuator * > &	,
		std::vector< pr2_mechanism_model::JointState * > &
	)

virtual

Uses encoder data to fill out joint position and velocities.

Implements pr2_mechanism_model::Transmission.

Definition at line 187 of file simple_transmission.cpp.

void SimpleTransmission::propagatePositionBackwards	(	std::vector< pr2_mechanism_model::JointState * > &	,
		std::vector< pr2_hardware_interface::Actuator * > &
	)

virtual

Uses the joint position to fill out the actuator's encoder.

Implements pr2_mechanism_model::Transmission.

Definition at line 208 of file simple_transmission.cpp.

Member Data Documentation

JointCalibrationSimulator pr2_mechanism_model::SimpleTransmission::joint_calibration_simulator_

private

Definition at line 76 of file simple_transmission.h.

double pr2_mechanism_model::SimpleTransmission::mechanical_reduction_

Definition at line 57 of file simple_transmission.h.

ros::Time pr2_mechanism_model::SimpleTransmission::simulated_actuator_start_time_

private

Definition at line 74 of file simple_transmission.h.

int pr2_mechanism_model::SimpleTransmission::simulated_actuator_timestamp_initialized_

private

Definition at line 73 of file simple_transmission.h.

double pr2_mechanism_model::SimpleTransmission::simulated_reduction_

private

Definition at line 70 of file simple_transmission.h.

bool pr2_mechanism_model::SimpleTransmission::use_simulated_actuated_joint_

private

Definition at line 71 of file simple_transmission.h.

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

Public Member Functions

Public Attributes

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation