75 transmission_(transmission),
76 actuator_data_(actuator_data),
77 joint_data_(joint_data)
183 for (
const auto& ptr : data)
185 if (!ptr) {
return false;}
383 template <
class HandleType>
395 catch(
const std::logic_error& e)
406 for (
auto&& resource_name_and_handle : this->resource_map_)
408 resource_name_and_handle.second.propagate();
virtual void jointToActuatorVelocity(const JointData &jnt_data, ActuatorData &act_data)=0
Transform velocity variables from joint to actuator space.
ActuatorToJointEffortHandle(const std::string &name, Transmission *transmission, const ActuatorData &actuator_data, const JointData &joint_data)
void propagate()
Propagate joint velocities to actuator velocities for the stored transmission.
Handle for propagating actuator efforts to joint efforts for a given transmission.
virtual std::size_t numJoints() const =0
std::vector< double * > absolute_position
std::vector< double * > velocity
virtual void actuatorToJointPosition(const ActuatorData &act_data, JointData &jnt_data)=0
Transform position variables from actuator to joint space.
virtual void actuatorToJointTorqueSensor(const ActuatorData &, JointData &)
std::vector< double * > absolute_position
void propagate()
Propagate the transmission maps of all managed handles.
Interface for propagating a given map on a set of transmissions.
ActuatorToJointStateHandle(const std::string &name, Transmission *transmission, const ActuatorData &actuator_data, const JointData &joint_data)
Contains pointers to raw data representing the position, velocity and acceleration of a transmission'...
std::vector< double * > position
virtual void actuatorToJointEffort(const ActuatorData &act_data, JointData &jnt_data)=0
Transform effort variables from actuator to joint space.
std::string getName() const
virtual void actuatorToJointAbsolutePosition(const ActuatorData &, JointData &)
std::vector< double * > torque_sensor
Handle for propagating actuator positions to joint positions for a given transmission.
ActuatorData actuator_data_
void propagate()
Propagate actuator positions to joint positions for the stored transmission.
JointToActuatorStateHandle(const std::string &name, Transmission *transmission, const ActuatorData &actuator_data, const JointData &joint_data)
TransmissionHandle(const std::string &name, Transmission *transmission, const ActuatorData &actuator_data, const JointData &joint_data)
std::vector< double * > torque_sensor
JointToActuatorVelocityHandle(const std::string &name, Transmission *transmission, const ActuatorData &actuator_data, const JointData &joint_data)
void propagate()
Propagate actuator efforts to joint efforts for the stored transmission.
ActuatorToJointPositionHandle(const std::string &name, Transmission *transmission, const ActuatorData &actuator_data, const JointData &joint_data)
Handle for propagating actuator velocities to joint velocities for a given transmission.
JointToActuatorEffortHandle(const std::string &name, Transmission *transmission, const ActuatorData &actuator_data, const JointData &joint_data)
ResourceHandle getHandle(const std::string &name)
Handle for propagating actuator state (position, velocity and effort) to joint state for a given tran...
Handle for propagating joint efforts to actuator efforts for a given transmission.
Transmission * transmission_
static bool hasValidPointers(const std::vector< double *> &data)
Handle for propagating joint velocities to actuator velocities for a given transmission.
virtual bool hasActuatorToJointTorqueSensor() const
void propagate()
Propagate joint efforts to actuator efforts for the stored transmission.
Contains pointers to raw data representing the position, velocity and acceleration of a transmission'...
virtual bool hasActuatorToJointAbsolutePosition() const
virtual void jointToActuatorPosition(const JointData &jnt_data, ActuatorData &act_data)=0
Transform position variables from joint to actuator space.
void propagate()
Propagate actuator velocities to joint velocities for the stored transmission.
std::vector< double * > velocity
ActuatorToJointVelocityHandle(const std::string &name, Transmission *transmission, const ActuatorData &actuator_data, const JointData &joint_data)
std::vector< double * > position
virtual void jointToActuatorEffort(const JointData &jnt_data, ActuatorData &act_data)=0
Transform effort variables from joint to actuator space.
JointToActuatorPositionHandle(const std::string &name, Transmission *transmission, const ActuatorData &actuator_data, const JointData &joint_data)
std::vector< double * > effort
void propagate()
Propagate joint positions to actuator positions for the stored transmission.
virtual std::size_t numActuators() const =0
Handle for propagating a single map (position, velocity, or effort) on a single transmission (eg...
std::vector< double * > effort
virtual void actuatorToJointVelocity(const ActuatorData &act_data, JointData &jnt_data)=0
Transform velocity variables from actuator to joint space.
void propagate()
Propagate joint state to actuator state for the stored transmission.
Handle for propagating joint positions to actuator positions for a given transmission.
Abstract base class for representing mechanical transmissions.
Handle for propagating joint state (position, velocity and effort) to actuator state for a given tran...
HandleType getHandle(const std::string &name)
void propagate()
Propagate actuator state to joint state for the stored transmission.