transmission_interface::TransmissionInterface< HandleType > Class Template Reference

Interface for propagating a given map on a set of transmissions. More...

#include <transmission_interface.h>

Inheritance diagram for transmission_interface::TransmissionInterface< HandleType >:

Public Member Functions
HandleType	getHandle (const std::string &name)
Real-Time Safe Functions
void	propagate ()
	Propagate the transmission maps of all managed handles. More...
Public Member Functions inherited from hardware_interface::ResourceManager< HandleType >
HandleType	getHandle (const std::string &name)
std::vector< std::string >	getNames () const
void	registerHandle (const HandleType &handle)
Public Member Functions inherited from hardware_interface::ResourceManagerBase
virtual	~ResourceManagerBase ()=default

Additional Inherited Members
Public Types inherited from hardware_interface::ResourceManager< HandleType >
typedef ResourceManager< HandleType >	resource_manager_type
Static Public Member Functions inherited from hardware_interface::ResourceManager< HandleType >
static void	concatManagers (std::vector< resource_manager_type *> &managers, resource_manager_type *result)
Protected Types inherited from hardware_interface::ResourceManager< HandleType >
typedef std::map< std::string, HandleType >	ResourceMap
Protected Attributes inherited from hardware_interface::ResourceManager< HandleType >
ResourceMap	resource_map_

Detailed Description

template<class HandleType>
class transmission_interface::TransmissionInterface< HandleType >

Interface for propagating a given map on a set of transmissions.

This map can consist of a single variable (eg. actuator to joint efforts, as implemented by ActuatorToJointEffortHandle) or multiple variables (eg. joint to actuator position, velocity and effort, as implemented by JointToActuatorStateHandle).

The set of transmissions handled by this interface can be heterogeneous, (eg. an arm with a four-bar-linkage in the shoulder, a differential in the wrist, and simple reducers elsewhere).

Template Parameters

HandleType

Transmission handle type. Must implement the following methods: void propagate(); std::string getName() const;

Definition at line 384 of file transmission_interface.h.

Member Function Documentation

getHandle()

template<class HandleType>

HandleType transmission_interface::TransmissionInterface< HandleType >::getHandle ( const std::string &  name )

inline

Definition at line 388 of file transmission_interface.h.

propagate()

template<class HandleType>

void transmission_interface::TransmissionInterface< HandleType >::propagate ( )

inline

Propagate the transmission maps of all managed handles.

Definition at line 404 of file transmission_interface.h.

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

• transmission_interface.h