Public Member Functions | Public Attributes | Private Attributes | List of all members
pr2_mechanism_model::SimpleTransmission Class Reference

#include <simple_transmission.h>

Inheritance diagram for pr2_mechanism_model::SimpleTransmission:
Inheritance graph
[legend]

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...
 
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 * > &)
 Uses encoder data to fill out joint position and velocities. More...
 
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...
 
 SimpleTransmission ()
 
 ~SimpleTransmission ()
 
- Public Member Functions inherited from pr2_mechanism_model::Transmission
 Transmission ()
 Constructor. More...
 
virtual ~Transmission ()
 Destructor. More...
 

Public Attributes

double mechanical_reduction_
 
- 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 Attributes

JointCalibrationSimulator joint_calibration_simulator_
 
ros::Time simulated_actuator_start_time_
 
int simulated_actuator_timestamp_initialized_
 
double simulated_reduction_
 
bool use_simulated_actuated_joint_
 

Detailed Description

Definition at line 80 of file simple_transmission.h.

Constructor & Destructor Documentation

◆ SimpleTransmission()

pr2_mechanism_model::SimpleTransmission::SimpleTransmission ( )
inline

Definition at line 115 of file simple_transmission.h.

◆ ~SimpleTransmission()

pr2_mechanism_model::SimpleTransmission::~SimpleTransmission ( )
inline

Definition at line 116 of file simple_transmission.h.

Member Function Documentation

◆ initXml() [1/2]

bool SimpleTransmission::initXml ( TiXmlElement *  config)
virtual

Initializes the transmission from XML data.

Reimplemented from pr2_mechanism_model::Transmission.

Definition at line 135 of file simple_transmission.cpp.

◆ initXml() [2/2]

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

Initializes the transmission from XML data.

Implements pr2_mechanism_model::Transmission.

◆ propagateEffort()

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

Uses commanded joint efforts to fill out commanded motor currents.

Implements pr2_mechanism_model::Transmission.

Definition at line 251 of file simple_transmission.cpp.

◆ propagateEffortBackwards()

void SimpleTransmission::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.

Implements pr2_mechanism_model::Transmission.

Definition at line 261 of file simple_transmission.cpp.

◆ propagatePosition()

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

Uses encoder data to fill out joint position and velocities.

Implements pr2_mechanism_model::Transmission.

Definition at line 195 of file simple_transmission.cpp.

◆ propagatePositionBackwards()

void SimpleTransmission::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.

Implements pr2_mechanism_model::Transmission.

Definition at line 216 of file simple_transmission.cpp.

Member Data Documentation

◆ joint_calibration_simulator_

JointCalibrationSimulator pr2_mechanism_model::SimpleTransmission::joint_calibration_simulator_
private

Definition at line 140 of file simple_transmission.h.

◆ mechanical_reduction_

double pr2_mechanism_model::SimpleTransmission::mechanical_reduction_

Definition at line 121 of file simple_transmission.h.

◆ simulated_actuator_start_time_

ros::Time pr2_mechanism_model::SimpleTransmission::simulated_actuator_start_time_
private

Definition at line 138 of file simple_transmission.h.

◆ simulated_actuator_timestamp_initialized_

int pr2_mechanism_model::SimpleTransmission::simulated_actuator_timestamp_initialized_
private

Definition at line 137 of file simple_transmission.h.

◆ simulated_reduction_

double pr2_mechanism_model::SimpleTransmission::simulated_reduction_
private

Definition at line 134 of file simple_transmission.h.

◆ use_simulated_actuated_joint_

bool pr2_mechanism_model::SimpleTransmission::use_simulated_actuated_joint_
private

Definition at line 135 of file simple_transmission.h.


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


pr2_mechanism_model
Author(s): Eric Berger berger@willowgarage.com, Stuart Glaser, Wim Meeussen
autogenerated on Thu Dec 3 2020 03:52:56