Implementation of a differential transmission. More...
#include <differential_transmission.h>
Public Member Functions | |
void | actuatorToJointEffort (const ActuatorData &act_data, JointData &jnt_data) |
Transform effort variables from actuator to joint space. More... | |
void | actuatorToJointPosition (const ActuatorData &act_data, JointData &jnt_data) |
Transform position variables from actuator to joint space. More... | |
void | actuatorToJointVelocity (const ActuatorData &act_data, JointData &jnt_data) |
Transform velocity variables from actuator to joint space. More... | |
DifferentialTransmission (const std::vector< double > &actuator_reduction, const std::vector< double > &joint_reduction, const std::vector< double > &joint_offset=std::vector< double >(2, 0.0)) | |
const std::vector< double > & | getActuatorReduction () const |
const std::vector< double > & | getJointOffset () const |
const std::vector< double > & | getJointReduction () const |
void | jointToActuatorEffort (const JointData &jnt_data, ActuatorData &act_data) |
Transform effort variables from joint to actuator space. More... | |
void | jointToActuatorPosition (const JointData &jnt_data, ActuatorData &act_data) |
Transform position variables from joint to actuator space. More... | |
void | jointToActuatorVelocity (const JointData &jnt_data, ActuatorData &act_data) |
Transform velocity variables from joint to actuator space. More... | |
std::size_t | numActuators () const |
std::size_t | numJoints () const |
Public Member Functions inherited from transmission_interface::Transmission | |
virtual | ~Transmission () |
Protected Attributes | |
std::vector< double > | act_reduction_ |
std::vector< double > | jnt_offset_ |
std::vector< double > | jnt_reduction_ |
Implementation of a differential transmission.
This transmission relates two actuators and two joints through a differential mechanism, as illustrated below.
Actuator to joint |
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Joint to actuator |
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where:
Definition at line 117 of file differential_transmission.h.
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inline |
actuator_reduction | Reduction ratio of actuators. |
joint_reduction | Reduction ratio of joints. |
joint_offset | Joint position offset used in the position mappings. |
Definition at line 203 of file differential_transmission.h.
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inlinevirtual |
Transform effort variables from actuator to joint space.
[in] | act_data | Actuator-space variables. |
[out] | jnt_data | Joint-space variables. |
Implements transmission_interface::Transmission.
Definition at line 228 of file differential_transmission.h.
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inlinevirtual |
Transform position variables from actuator to joint space.
[in] | act_data | Actuator-space variables. |
[out] | jnt_data | Joint-space variables. |
Implements transmission_interface::Transmission.
Definition at line 254 of file differential_transmission.h.
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inlinevirtual |
Transform velocity variables from actuator to joint space.
[in] | act_data | Actuator-space variables. |
[out] | jnt_data | Joint-space variables. |
Implements transmission_interface::Transmission.
Definition at line 241 of file differential_transmission.h.
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inline |
Definition at line 193 of file differential_transmission.h.
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inline |
Definition at line 195 of file differential_transmission.h.
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inline |
Definition at line 194 of file differential_transmission.h.
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inlinevirtual |
Transform effort variables from joint to actuator space.
[in] | jnt_data | Joint-space variables. |
[out] | act_data | Actuator-space variables. |
Implements transmission_interface::Transmission.
Definition at line 267 of file differential_transmission.h.
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inlinevirtual |
Transform position variables from joint to actuator space.
[in] | jnt_data | Joint-space variables. |
[out] | act_data | Actuator-space variables. |
Implements transmission_interface::Transmission.
Definition at line 293 of file differential_transmission.h.
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inlinevirtual |
Transform velocity variables from joint to actuator space.
[in] | jnt_data | Joint-space variables. |
[out] | act_data | Actuator-space variables. |
Implements transmission_interface::Transmission.
Definition at line 280 of file differential_transmission.h.
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inlinevirtual |
Implements transmission_interface::Transmission.
Definition at line 190 of file differential_transmission.h.
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inlinevirtual |
Implements transmission_interface::Transmission.
Definition at line 191 of file differential_transmission.h.
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protected |
Definition at line 198 of file differential_transmission.h.
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protected |
Definition at line 200 of file differential_transmission.h.
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protected |
Definition at line 199 of file differential_transmission.h.