Implementation of a simple reducer transmission. More...
#include <simple_transmission.h>
Public Member Functions | |
void | actuatorToJointAbsolutePosition (const ActuatorData &act_data, JointData &jnt_data) override |
void | actuatorToJointEffort (const ActuatorData &act_data, JointData &jnt_data) override |
Transform effort variables from actuator to joint space. More... | |
void | actuatorToJointPosition (const ActuatorData &act_data, JointData &jnt_data) override |
Transform position variables from actuator to joint space. More... | |
void | actuatorToJointTorqueSensor (const ActuatorData &act_data, JointData &jnt_data) override |
void | actuatorToJointVelocity (const ActuatorData &act_data, JointData &jnt_data) override |
Transform velocity variables from actuator to joint space. More... | |
double | getActuatorReduction () const |
double | getJointOffset () const |
bool | hasActuatorToJointAbsolutePosition () const override |
bool | hasActuatorToJointTorqueSensor () const override |
void | jointToActuatorEffort (const JointData &jnt_data, ActuatorData &act_data) override |
Transform effort variables from joint to actuator space. More... | |
void | jointToActuatorPosition (const JointData &jnt_data, ActuatorData &act_data) override |
Transform position variables from joint to actuator space. More... | |
void | jointToActuatorVelocity (const JointData &jnt_data, ActuatorData &act_data) override |
Transform velocity variables from joint to actuator space. More... | |
std::size_t | numActuators () const override |
std::size_t | numJoints () const override |
SimpleTransmission (const double reduction, const double joint_offset=0.0) | |
Public Member Functions inherited from transmission_interface::Transmission | |
virtual | ~Transmission ()=default |
Private Attributes | |
double | jnt_offset_ |
double | reduction_ |
Implementation of a simple reducer transmission.
This transmission relates one actuator and one joint through a reductor (or amplifier). Timing belts and gears are examples of this transmission type, and are illustrated below.
Actuator to joint |
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Joint to actuator |
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where:
Definition at line 95 of file simple_transmission.h.
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inline |
reduction | Reduction ratio. |
joint_offset | Joint position offset used in the position mappings. |
Definition at line 186 of file simple_transmission.h.
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inlineoverridevirtual |
Reimplemented from transmission_interface::Transmission.
Definition at line 224 of file simple_transmission.h.
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inlineoverridevirtual |
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 197 of file simple_transmission.h.
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inlineoverridevirtual |
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 215 of file simple_transmission.h.
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inlineoverridevirtual |
Reimplemented from transmission_interface::Transmission.
Definition at line 234 of file simple_transmission.h.
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inlineoverridevirtual |
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 206 of file simple_transmission.h.
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inline |
Definition at line 177 of file simple_transmission.h.
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inline |
Definition at line 178 of file simple_transmission.h.
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inlineoverridevirtual |
Reimplemented from transmission_interface::Transmission.
Definition at line 174 of file simple_transmission.h.
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inlineoverridevirtual |
Reimplemented from transmission_interface::Transmission.
Definition at line 175 of file simple_transmission.h.
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inlineoverridevirtual |
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 245 of file simple_transmission.h.
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inlineoverridevirtual |
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 263 of file simple_transmission.h.
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inlineoverridevirtual |
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 254 of file simple_transmission.h.
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inlineoverridevirtual |
Implements transmission_interface::Transmission.
Definition at line 172 of file simple_transmission.h.
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inlineoverridevirtual |
Implements transmission_interface::Transmission.
Definition at line 173 of file simple_transmission.h.
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private |
Definition at line 183 of file simple_transmission.h.
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private |
Definition at line 182 of file simple_transmission.h.