pr2_mechanism_model::WristTransmission Class Reference

#include <wrist_transmission.h>

Inheritance diagram for pr2_mechanism_model::WristTransmission:

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.

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

• wrist_transmission.h
• wrist_transmission.cpp