#include <transmission.h>
Public Member Functions | |
virtual bool | initXml (TiXmlElement *config) |
Initializes the transmission from XML data. More... | |
virtual bool | initXml (TiXmlElement *config, Robot *robot)=0 |
Initializes the transmission from XML data. More... | |
virtual void | propagateEffort (std::vector< pr2_mechanism_model::JointState * > &, std::vector< pr2_hardware_interface::Actuator * > &)=0 |
Uses commanded joint efforts to fill out commanded motor currents. More... | |
virtual void | propagateEffortBackwards (std::vector< pr2_hardware_interface::Actuator * > &, std::vector< pr2_mechanism_model::JointState * > &)=0 |
Uses the actuator's commanded effort to fill out the torque on the joint. More... | |
virtual void | propagatePosition (std::vector< pr2_hardware_interface::Actuator * > &, std::vector< pr2_mechanism_model::JointState * > &)=0 |
Uses encoder data to fill out joint position and velocities. More... | |
virtual void | propagatePositionBackwards (std::vector< pr2_mechanism_model::JointState * > &, std::vector< pr2_hardware_interface::Actuator * > &)=0 |
Uses the joint position to fill out the actuator's encoder. More... | |
Transmission () | |
Constructor. More... | |
virtual | ~Transmission () |
Destructor. More... | |
Public Attributes | |
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 transmission.h.
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inline |
Constructor.
Definition at line 84 of file transmission.h.
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inlinevirtual |
Destructor.
Definition at line 87 of file transmission.h.
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inlinevirtual |
Initializes the transmission from XML data.
Reimplemented in pr2_mechanism_model::WristTransmission, pr2_mechanism_model::SimpleTransmission, pr2_mechanism_model::PR2GripperTransmission, and pr2_mechanism_model::PR2BeltCompensatorTransmission.
Definition at line 128 of file transmission.h.
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pure virtual |
Initializes the transmission from XML data.
Implemented in pr2_mechanism_model::WristTransmission, pr2_mechanism_model::SimpleTransmission, pr2_mechanism_model::PR2GripperTransmission, and pr2_mechanism_model::PR2BeltCompensatorTransmission.
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pure virtual |
Uses commanded joint efforts to fill out commanded motor currents.
Implemented in pr2_mechanism_model::WristTransmission, pr2_mechanism_model::SimpleTransmission, pr2_mechanism_model::PR2GripperTransmission, and pr2_mechanism_model::PR2BeltCompensatorTransmission.
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pure virtual |
Uses the actuator's commanded effort to fill out the torque on the joint.
Implemented in pr2_mechanism_model::WristTransmission, pr2_mechanism_model::SimpleTransmission, pr2_mechanism_model::PR2GripperTransmission, and pr2_mechanism_model::PR2BeltCompensatorTransmission.
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pure virtual |
Uses encoder data to fill out joint position and velocities.
Implemented in pr2_mechanism_model::WristTransmission, pr2_mechanism_model::SimpleTransmission, pr2_mechanism_model::PR2GripperTransmission, and pr2_mechanism_model::PR2BeltCompensatorTransmission.
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pure virtual |
Uses the joint position to fill out the actuator's encoder.
Implemented in pr2_mechanism_model::WristTransmission, pr2_mechanism_model::SimpleTransmission, pr2_mechanism_model::PR2GripperTransmission, and pr2_mechanism_model::PR2BeltCompensatorTransmission.
std::vector<std::string> pr2_mechanism_model::Transmission::actuator_names_ |
Specifies the names of the actuators that this transmission uses. In the propagate* methods, the order of actuators and joints in the parameters matches the order in actuator_names_ and in joint_names_.
Definition at line 117 of file transmission.h.
std::vector<std::string> pr2_mechanism_model::Transmission::joint_names_ |
Specifies the names of the joints that this transmission uses. In the propagate* methods, the order of actuators and joints in the parameters matches the order in actuator_names_ and in joint_names_.
Definition at line 125 of file transmission.h.
std::string pr2_mechanism_model::Transmission::name_ |
the name of the transmission
Definition at line 109 of file transmission.h.