simple_transmission.cpp

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/*
 * Author: Stuart Glaser
 *
 * modified by Ugo Cupcic
 */

#include "sr_mechanism_model/simple_transmission.hpp"

using ros_ethercat_model::Transmission;
using ros_ethercat_model::RobotState;
using sr_actuator::SrMotorActuator;

PLUGINLIB_EXPORT_CLASS(sr_mechanism_model::SimpleTransmission, Transmission)

namespace sr_mechanism_model
{

  bool SimpleTransmission::initXml(tinyxml2::XMLElement *elt, RobotState *robot)
  {
    if (!ros_ethercat_model::Transmission::initXml(elt, robot))
    {
      return false;
    }

    // reading the joint name
    tinyxml2::XMLElement *jel = elt->FirstChildElement("joint");
    if (!jel || !jel->Attribute("name"))
    {
      ROS_ERROR_STREAM("Joint name not specified in transmission " << name_);
      return false;
    }

    tinyxml2::XMLElement *ael = elt->FirstChildElement("actuator");
    if (!ael || !ael->Attribute("name"))
    {
      ROS_ERROR_STREAM("Transmission " << name_ << " has no actuator in configuration");
      return false;
    }

    joint_ = robot->getJointState(jel->Attribute("name"));
    actuator_ = new SrMotorActuator();
    actuator_->name_ = ael->Attribute("name");
    actuator_->command_.enable_ = true;

    return true;
  }

  void SimpleTransmission::propagatePosition()
  {
    SrMotorActuator *act = static_cast<SrMotorActuator *>(actuator_);
    joint_->position_ = act->state_.position_;
    joint_->velocity_ = act->state_.velocity_;
    joint_->effort_ = act->state_.last_measured_effort_;
  }

  void SimpleTransmission::propagateEffort()
  {
    SrMotorActuator *act = static_cast<SrMotorActuator *>(actuator_);
    act->command_.enable_ = true;
    act->command_.effort_ = joint_->commanded_effort_;
  }

}  // namespace sr_mechanism_model

/* For the emacs weenies in the crowd.
Local Variables:
   c-basic-offset: 2
End:
 */