37 #ifndef TRANSMISSION_H 38 #define TRANSMISSION_H 58 virtual bool initXml(TiXmlElement *config,
Robot *robot) = 0;
62 std::vector<pr2_mechanism_model::JointState*>&) = 0;
66 std::vector<pr2_hardware_interface::Actuator*>&) = 0;
69 virtual void propagateEffort(std::vector<pr2_mechanism_model::JointState*>&,
70 std::vector<pr2_hardware_interface::Actuator*>&) = 0;
74 std::vector<pr2_mechanism_model::JointState*>&) = 0;
96 virtual bool initXml(TiXmlElement *config) { abort(); }
Transmission()
Constructor.
virtual ~Transmission()
Destructor.
std::vector< std::string > actuator_names_
virtual void propagatePosition(std::vector< pr2_hardware_interface::Actuator *> &, std::vector< pr2_mechanism_model::JointState *> &)=0
Uses encoder data to fill out joint position and velocities.
virtual bool initXml(TiXmlElement *config)
Initializes the transmission from XML data.
std::vector< std::string > joint_names_
std::string name_
the name of the transmission
virtual void propagateEffortBackwards(std::vector< pr2_hardware_interface::Actuator *> &, std::vector< pr2_mechanism_model::JointState *> &)=0
Uses the actuator's commanded effort to fill out the torque on the joint.
virtual bool initXml(TiXmlElement *config, Robot *robot)=0
Initializes the transmission from XML data.
virtual void propagateEffort(std::vector< pr2_mechanism_model::JointState *> &, std::vector< pr2_hardware_interface::Actuator *> &)=0
Uses commanded joint efforts to fill out commanded motor currents.
This class provides the controllers with an interface to the robot model.
virtual void propagatePositionBackwards(std::vector< pr2_mechanism_model::JointState *> &, std::vector< pr2_hardware_interface::Actuator *> &)=0
Uses the joint position to fill out the actuator's encoder.