#include <wrist_transmission.h>

Inheritance diagram for pr2_mechanism_model::WristTransmission:

Public Types
enum	{ RIGHT_MOTOR, LEFT_MOTOR }

enum	{ FLEX_JOINT, ROLL_JOINT }

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...

void	setReductions (std::vector< double > &ar, std::vector< double > &jr)

	WristTransmission ()

	~WristTransmission ()

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

virtual	~Transmission ()
	Destructor. More...

Public Attributes
std::vector< double >	actuator_reduction_

double	joint_offset_ [2]

std::vector< double >	joint_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_ [2]

ros::Time	simulated_actuator_start_time_

int	simulated_actuator_timestamp_initialized_

Detailed Description

Definition at line 68 of file wrist_transmission.h.

Member Enumeration Documentation

anonymous enum

Enumerator
RIGHT_MOTOR
LEFT_MOTOR

Definition at line 83 of file wrist_transmission.h.

anonymous enum

Enumerator
FLEX_JOINT
ROLL_JOINT

Definition at line 84 of file wrist_transmission.h.

Constructor & Destructor Documentation

WristTransmission::WristTransmission ( )

Definition at line 61 of file wrist_transmission.cpp.

pr2_mechanism_model::WristTransmission::~WristTransmission ( )

inline

Definition at line 72 of file wrist_transmission.h.

Member Function Documentation

bool WristTransmission::initXml	(	TiXmlElement *	config,
		Robot *	robot
	)

virtual

Initializes the transmission from XML data.

Implements pr2_mechanism_model::Transmission.

Definition at line 68 of file wrist_transmission.cpp.

bool WristTransmission::initXml ( TiXmlElement * config )

virtual

Initializes the transmission from XML data.

Reimplemented from pr2_mechanism_model::Transmission.

Definition at line 196 of file wrist_transmission.cpp.

void WristTransmission::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 369 of file wrist_transmission.cpp.

void WristTransmission::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 382 of file wrist_transmission.cpp.

void WristTransmission::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 306 of file wrist_transmission.cpp.

void WristTransmission::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 323 of file wrist_transmission.cpp.

void WristTransmission::setReductions	(	std::vector< double > &	ar,
		std::vector< double > &	jr
	)

Definition at line 393 of file wrist_transmission.cpp.

Member Data Documentation

std::vector<double> pr2_mechanism_model::WristTransmission::actuator_reduction_

Definition at line 77 of file wrist_transmission.h.

JointCalibrationSimulator pr2_mechanism_model::WristTransmission::joint_calibration_simulator_[2]

private

Definition at line 100 of file wrist_transmission.h.

double pr2_mechanism_model::WristTransmission::joint_offset_[2]

Definition at line 79 of file wrist_transmission.h.

std::vector<double> pr2_mechanism_model::WristTransmission::joint_reduction_

Definition at line 78 of file wrist_transmission.h.

ros::Time pr2_mechanism_model::WristTransmission::simulated_actuator_start_time_

private

Definition at line 98 of file wrist_transmission.h.

int pr2_mechanism_model::WristTransmission::simulated_actuator_timestamp_initialized_

private

Definition at line 97 of file wrist_transmission.h.

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

Public Types

Public Member Functions

Public Attributes

Private Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation