#include <simple_transmission.h>
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... | |
Definition at line 80 of file simple_transmission.h.
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inline |
Definition at line 115 of file simple_transmission.h.
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inline |
Definition at line 116 of file simple_transmission.h.
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virtual |
Initializes the transmission from XML data.
Reimplemented from pr2_mechanism_model::Transmission.
Definition at line 139 of file simple_transmission.cpp.
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Initializes the transmission from XML data.
Implements pr2_mechanism_model::Transmission.
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Uses commanded joint efforts to fill out commanded motor currents.
Implements pr2_mechanism_model::Transmission.
Definition at line 255 of file simple_transmission.cpp.
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Uses the actuator's commanded effort to fill out the torque on the joint.
Implements pr2_mechanism_model::Transmission.
Definition at line 265 of file simple_transmission.cpp.
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Uses encoder data to fill out joint position and velocities.
Implements pr2_mechanism_model::Transmission.
Definition at line 199 of file simple_transmission.cpp.
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virtual |
Uses the joint position to fill out the actuator's encoder.
Implements pr2_mechanism_model::Transmission.
Definition at line 220 of file simple_transmission.cpp.
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private |
Definition at line 140 of file simple_transmission.h.
double pr2_mechanism_model::SimpleTransmission::mechanical_reduction_ |
Definition at line 121 of file simple_transmission.h.
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private |
Definition at line 138 of file simple_transmission.h.
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private |
Definition at line 137 of file simple_transmission.h.
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private |
Definition at line 134 of file simple_transmission.h.
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private |
Definition at line 135 of file simple_transmission.h.