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

#include <wrist_transmission.h>

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

Public Types

enum  { RIGHT_MOTOR, LEFT_MOTOR }
 
enum  { FLEX_JOINT, ROLL_JOINT }
 

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...
 
void setReductions (std::vector< double > &ar, std::vector< double > &jr)
 
 WristTransmission ()
 
 ~WristTransmission ()
 
- Public Member Functions inherited from pr2_mechanism_model::Transmission
 Transmission ()
 Constructor. More...
 
virtual ~Transmission ()
 Destructor. More...
 

Public Attributes

std::vector< double > actuator_reduction_
 
double joint_offset_ [2]
 
std::vector< double > joint_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_ [2]
 
ros::Time simulated_actuator_start_time_
 
int simulated_actuator_timestamp_initialized_
 

Detailed Description

Definition at line 100 of file wrist_transmission.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum
Enumerator
RIGHT_MOTOR 
LEFT_MOTOR 

Definition at line 147 of file wrist_transmission.h.

◆ anonymous enum

anonymous enum
Enumerator
FLEX_JOINT 
ROLL_JOINT 

Definition at line 148 of file wrist_transmission.h.

Constructor & Destructor Documentation

◆ WristTransmission()

WristTransmission::WristTransmission ( )

Definition at line 61 of file wrist_transmission.cpp.

◆ ~WristTransmission()

pr2_mechanism_model::WristTransmission::~WristTransmission ( )
inline

Definition at line 136 of file wrist_transmission.h.

Member Function Documentation

◆ initXml() [1/2]

bool WristTransmission::initXml ( TiXmlElement *  config)
virtual

Initializes the transmission from XML data.

Reimplemented from pr2_mechanism_model::Transmission.

Definition at line 204 of file wrist_transmission.cpp.

◆ initXml() [2/2]

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

Initializes the transmission from XML data.

Implements pr2_mechanism_model::Transmission.

Definition at line 68 of file wrist_transmission.cpp.

◆ propagateEffort()

void WristTransmission::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 377 of file wrist_transmission.cpp.

◆ propagateEffortBackwards()

void WristTransmission::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 390 of file wrist_transmission.cpp.

◆ propagatePosition()

void WristTransmission::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 314 of file wrist_transmission.cpp.

◆ propagatePositionBackwards()

void WristTransmission::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 331 of file wrist_transmission.cpp.

◆ setReductions()

void WristTransmission::setReductions ( std::vector< double > &  ar,
std::vector< double > &  jr 
)

Definition at line 401 of file wrist_transmission.cpp.

Member Data Documentation

◆ actuator_reduction_

std::vector<double> pr2_mechanism_model::WristTransmission::actuator_reduction_

Definition at line 141 of file wrist_transmission.h.

◆ joint_calibration_simulator_

JointCalibrationSimulator pr2_mechanism_model::WristTransmission::joint_calibration_simulator_[2]
private

Definition at line 164 of file wrist_transmission.h.

◆ joint_offset_

double pr2_mechanism_model::WristTransmission::joint_offset_[2]

Definition at line 143 of file wrist_transmission.h.

◆ joint_reduction_

std::vector<double> pr2_mechanism_model::WristTransmission::joint_reduction_

Definition at line 142 of file wrist_transmission.h.

◆ simulated_actuator_start_time_

ros::Time pr2_mechanism_model::WristTransmission::simulated_actuator_start_time_
private

Definition at line 162 of file wrist_transmission.h.

◆ simulated_actuator_timestamp_initialized_

int pr2_mechanism_model::WristTransmission::simulated_actuator_timestamp_initialized_
private

Definition at line 161 of file wrist_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