#include <pr2_gripper_transmission.h>

Inheritance diagram for pr2_mechanism_model::PR2GripperTransmission:

Public Member Functions
bool	initXml (TiXmlElement *config)
	Initializes the transmission from XML data. More...

bool	initXml (TiXmlElement config, Robot robot)
	Initializes the transmission from XML data. More...

	PR2GripperTransmission ()

void	propagateEffort (std::vector< pr2_mechanism_model::JointState * > &, std::vector< pr2_hardware_interface::Actuator * > &)
	Uses commanded joint efforts to fill out commanded motor currents. More...

void	propagateEffortBackwards (std::vector< pr2_hardware_interface::Actuator * > &, std::vector< pr2_mechanism_model::JointState * > &)
	Uses the actuator's commanded effort to fill out the torque on the joint. More...

void	propagatePosition (std::vector< pr2_hardware_interface::Actuator * > &, std::vector< pr2_mechanism_model::JointState * > &)

void	propagatePositionBackwards (std::vector< pr2_mechanism_model::JointState * > &, std::vector< pr2_hardware_interface::Actuator * > &)
	Uses the joint position to fill out the actuator's encoder. More...

virtual	~PR2GripperTransmission ()

Public Member Functions inherited from pr2_mechanism_model::Transmission
	Transmission ()
	Constructor. More...

virtual	~Transmission ()
	Destructor. More...

Public Attributes
std::string	gap_joint_

double	gap_mechanical_reduction_

bool	has_simulated_passive_actuated_joint_

std::vector< std::string >	passive_joints_

double	simulated_reduction_

bool	use_simulated_actuated_joint_

Public Attributes inherited from pr2_mechanism_model::Transmission
std::vector< std::string >	actuator_names_

std::vector< std::string >	joint_names_

std::string	name_
	the name of the transmission More...

Private Member Functions
void	computeGapStates (double MR, double MR_dot, double MT, double &theta, double &dtheta_dMR, double &dt_dtheta, double &dt_dMR, double &gap_size, double &gap_velocity, double &gap_effort)
	compute gap position, velocity and measured effort from actuator states More...

void	inverseGapStates (double gap_size, double &MR, double &dMR_dtheta, double &dtheta_dt, double &dMR_dt)

void	inverseGapStates1 (double theta, double &MR, double &dMR_dtheta, double &dtheta_dt, double &dMR_dt)

Private Attributes
double	a_

double	b_

double	gear_ratio_

double	h_

JointCalibrationSimulator	joint_calibration_simulator_

double	L0_

double	phi0_

double	r_

double	screw_reduction_

ros::Time	simulated_actuator_start_time_

int	simulated_actuator_timestamp_initialized_

double	t0_

double	theta0_

Detailed Description

Definition at line 55 of file pr2_gripper_transmission.h.

Constructor & Destructor Documentation

◆ PR2GripperTransmission()

pr2_mechanism_model::PR2GripperTransmission::PR2GripperTransmission ( )

inline

Definition at line 58 of file pr2_gripper_transmission.h.

◆ ~PR2GripperTransmission()

virtual pr2_mechanism_model::PR2GripperTransmission::~PR2GripperTransmission ( )

inlinevirtual

Definition at line 59 of file pr2_gripper_transmission.h.

Member Function Documentation

◆ computeGapStates()

void PR2GripperTransmission::computeGapStates	(	double	MR,
		double	MR_dot,
		double	MT,
		double &	theta,
		double &	dtheta_dMR,
		double &	dt_dtheta,
		double &	dt_dMR,
		double &	gap_size,
		double &	gap_velocity,
		double &	gap_effort
	)

private

compute gap position, velocity and measured effort from actuator states

given actuator states (motor revolustion, joint torques), compute gap properties.

Definition at line 421 of file pr2_gripper_transmission.cpp.

◆ initXml() [1/2]

bool PR2GripperTransmission::initXml ( TiXmlElement * config )

virtual

Initializes the transmission from XML data.

Reimplemented from pr2_mechanism_model::Transmission.

Definition at line 128 of file pr2_gripper_transmission.cpp.

◆ initXml() [2/2]

bool pr2_mechanism_model::PR2GripperTransmission::initXml	(	TiXmlElement *	config,
		Robot *	robot
	)

virtual

Initializes the transmission from XML data.

Implements pr2_mechanism_model::Transmission.

◆ inverseGapStates()

void PR2GripperTransmission::inverseGapStates	(	double	gap_size,
		double &	MR,
		double &	dMR_dtheta,
		double &	dtheta_dt,
		double &	dMR_dt
	)

private

inverse of computeGapStates() need theta as input computes MR, dMR_dtheta, dtheta_dt, dMR_dt

Definition at line 478 of file pr2_gripper_transmission.cpp.

◆ inverseGapStates1()

void PR2GripperTransmission::inverseGapStates1	(	double	theta,
		double &	MR,
		double &	dMR_dtheta,
		double &	dtheta_dt,
		double &	dMR_dt
	)

private

inverse of computeGapStates() need theta as input computes MR, dMR_dtheta, dtheta_dt, dMR_dt

Definition at line 494 of file pr2_gripper_transmission.cpp.

◆ propagateEffort()

void PR2GripperTransmission::propagateEffort	(	std::vector< pr2_mechanism_model::JointState * > &	,
		std::vector< pr2_hardware_interface::Actuator * > &
	)

virtual

Uses commanded joint efforts to fill out commanded motor currents.

Newtons

actuator commanded effort = gap_dffort / dMR_dt / (2*pi) * gap_mechanical_reduction_

Implements pr2_mechanism_model::Transmission.

Definition at line 679 of file pr2_gripper_transmission.cpp.

◆ propagateEffortBackwards()

void PR2GripperTransmission::propagateEffortBackwards	(	std::vector< pr2_hardware_interface::Actuator * > &	,
		std::vector< pr2_mechanism_model::JointState * > &
	)

virtual

Uses the actuator's commanded effort to fill out the torque on the joint.

taken from propagatePosition()

internal theta state, gripper closed it is theta0_. same as finger joint angles + theta0_.

information on the fictitious joint: gap_joint

Implements pr2_mechanism_model::Transmission.

Definition at line 710 of file pr2_gripper_transmission.cpp.

◆ propagatePosition()

void PR2GripperTransmission::propagatePosition	(	std::vector< pr2_hardware_interface::Actuator * > &	,
		std::vector< pr2_mechanism_model::JointState * > &
	)

virtual

assign joint position, velocity, effort from actuator state all passive joints are assigned by single actuator state through mimic?

motor revolutions = encoder value * gap_mechanical_reduction_ * RAD2MR motor revolutions = motor angle(rad) / (2*pi) = theta / (2*pi)

motor revolustions per second = motor angle rate (rad per second) / (2*pi)

old MT definition - obsolete

  but we convert it to Nm*(MR/rad)
  motor torque = actuator_state->last_meausured_effort
  motor torque = I * theta_ddot
  MT           = I * MR_ddot  (my definition)
               = I * theta_ddot / (2*pi)
               = motot torque   / (2*pi)

gripper motor torque: received from hardware side in newton-meters

internal theta state, gripper closed it is theta0_. same as finger joint angles + theta0_.

information on the fictitious joint: gap_joint

Implements pr2_mechanism_model::Transmission.

Definition at line 537 of file pr2_gripper_transmission.cpp.

◆ propagatePositionBackwards()

void PR2GripperTransmission::propagatePositionBackwards	(	std::vector< pr2_mechanism_model::JointState * > &	,
		std::vector< pr2_hardware_interface::Actuator * > &
	)

virtual

Uses the joint position to fill out the actuator's encoder.

should be exact inverse of propagatePosition() call

state velocity = MR_dot * gap_mechanical_reduction_ / rad2mr = theta_dot * dMR_dtheta * gap_mechanical_reduction_ / rad2mr

motor torque = inverse of getting gap effort from motor torque = gap_effort * dt_dMR / (2*pi) * gap_mechanical_reduction_ = gap_effort / dMR_dt * RAD2MR * gap_mechanical_reduction_

Implements pr2_mechanism_model::Transmission.

Definition at line 616 of file pr2_gripper_transmission.cpp.