pr2_mechanism_model::SimpleTransmission Class Reference

#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

SimpleTransmission()

pr2_mechanism_model::SimpleTransmission::SimpleTransmission ( )

inline

Definition at line 51 of file simple_transmission.h.

~SimpleTransmission()

pr2_mechanism_model::SimpleTransmission::~SimpleTransmission ( )

inline

Definition at line 52 of file simple_transmission.h.

Member Function Documentation

initXml() [1/2]

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

virtual

Initializes the transmission from XML data.

Implements pr2_mechanism_model::Transmission.

initXml() [2/2]

bool SimpleTransmission::initXml ( TiXmlElement *  config )

virtual

Initializes the transmission from XML data.

Reimplemented from pr2_mechanism_model::Transmission.

Definition at line 139 of file simple_transmission.cpp.

propagateEffort()

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 255 of file simple_transmission.cpp.

propagateEffortBackwards()

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 265 of file simple_transmission.cpp.

propagatePosition()

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 199 of file simple_transmission.cpp.

propagatePositionBackwards()

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 220 of file simple_transmission.cpp.

Member Data Documentation

joint_calibration_simulator_

JointCalibrationSimulator pr2_mechanism_model::SimpleTransmission::joint_calibration_simulator_

private

Definition at line 76 of file simple_transmission.h.

mechanical_reduction_

double pr2_mechanism_model::SimpleTransmission::mechanical_reduction_

Definition at line 57 of file simple_transmission.h.

simulated_actuator_start_time_

ros::Time pr2_mechanism_model::SimpleTransmission::simulated_actuator_start_time_

private

Definition at line 74 of file simple_transmission.h.

simulated_actuator_timestamp_initialized_

int pr2_mechanism_model::SimpleTransmission::simulated_actuator_timestamp_initialized_

private

Definition at line 73 of file simple_transmission.h.

simulated_reduction_

double pr2_mechanism_model::SimpleTransmission::simulated_reduction_

private

Definition at line 70 of file simple_transmission.h.

use_simulated_actuated_joint_

bool pr2_mechanism_model::SimpleTransmission::use_simulated_actuated_joint_

private

Definition at line 71 of file simple_transmission.h.

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

• simple_transmission.h
• simple_transmission.cpp