37 #ifndef SIMPLE_TRANSMISSION_H 38 #define SIMPLE_TRANSMISSION_H 55 bool initXml(TiXmlElement *config);
60 std::vector<pr2_mechanism_model::JointState*>&);
62 std::vector<pr2_hardware_interface::Actuator*>&);
64 std::vector<pr2_hardware_interface::Actuator*>&);
66 std::vector<pr2_mechanism_model::JointState*>&);
ros::Time simulated_actuator_start_time_
void propagatePosition(std::vector< pr2_hardware_interface::Actuator *> &, std::vector< pr2_mechanism_model::JointState *> &)
Uses encoder data to fill out joint position and velocities.
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.
void propagateEffort(std::vector< pr2_mechanism_model::JointState *> &, std::vector< pr2_hardware_interface::Actuator *> &)
Uses commanded joint efforts to fill out commanded motor currents.
JointCalibrationSimulator joint_calibration_simulator_
bool initXml(TiXmlElement *config, Robot *robot)
Initializes the transmission from XML data.
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.
int simulated_actuator_timestamp_initialized_
double simulated_reduction_
double mechanical_reduction_
bool use_simulated_actuated_joint_
This class provides the controllers with an interface to the robot model.