pr2_belt_transmission.h
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29 
30 #ifndef PR2_BELT_COMPENSATOR_TRANSMISSION_H
31 #define PR2_BELT_COMPENSATOR_TRANSMISSION_H
32 
33 #include <tinyxml.h>
34 
40 
41 namespace pr2_mechanism_model {
42 
48 {
49 public:
52 
53  bool initXml(TiXmlElement *config, Robot *robot);
54  bool initXml(TiXmlElement *config);
55 
56  void propagatePosition(std::vector<pr2_hardware_interface::Actuator*>&,
57  std::vector<pr2_mechanism_model::JointState*>&);
58  void propagatePositionBackwards(std::vector<pr2_mechanism_model::JointState*>&,
59  std::vector<pr2_hardware_interface::Actuator*>&);
60  void propagateEffort(std::vector<pr2_mechanism_model::JointState*>&,
61  std::vector<pr2_hardware_interface::Actuator*>&);
62  void propagateEffortBackwards(std::vector<pr2_hardware_interface::Actuator*>&,
63  std::vector<pr2_mechanism_model::JointState*>&);
64 
65 private:
67  double dt;
68 
69  // Transmission parameters
71  double trans_compl_; // Transmission compliance
72  double trans_tau_; // Transmission time constant
73  double Kd_motor_; // Motor damping gain
74  double lambda_motor_; // Damping cutoff bandwidth
75  double lambda_joint_; // Joint estimate rolloff bandwidth
76  double lambda_combo_; // Estimate combination crossover bandwidth
77 
80 
84 
88 
91 
94 
95 
96  // Backward transmission states
99 
101 
105 
108 
111 
112 
114 };
115 
116 } // namespace
117 
118 #endif
pr2_mechanism_model::PR2BeltCompensatorTransmission::last_joint_vel_backwards_
double last_joint_vel_backwards_
Definition: pr2_belt_transmission.h:107
pr2_mechanism_model::PR2BeltCompensatorTransmission::last_motor_damping_force_
double last_motor_damping_force_
Definition: pr2_belt_transmission.h:93
pr2_mechanism_model::PR2BeltCompensatorTransmission::lambda_combo_
double lambda_combo_
Definition: pr2_belt_transmission.h:76
robot.h
pr2_mechanism_model::PR2BeltCompensatorTransmission::propagatePositionBackwards
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.
pr2_mechanism_model::PR2BeltCompensatorTransmission::last_motor_acc_backwards_
double last_motor_acc_backwards_
Definition: pr2_belt_transmission.h:104
pr2_mechanism_model::PR2BeltCompensatorTransmission::halfdt_backwards_
double halfdt_backwards_
Definition: pr2_belt_transmission.h:98
pr2_mechanism_model
Definition: chain.h:41
pr2_mechanism_model::Transmission
Definition: transmission.h:80
pr2_mechanism_model::PR2BeltCompensatorTransmission::Kd_motor_
double Kd_motor_
Definition: pr2_belt_transmission.h:73
pr2_mechanism_model::PR2BeltCompensatorTransmission::mechanical_reduction_
double mechanical_reduction_
Definition: pr2_belt_transmission.h:70
pr2_mechanism_model::PR2BeltCompensatorTransmission::last_timestamp_backwards_
ros::Duration last_timestamp_backwards_
Definition: pr2_belt_transmission.h:97
pr2_mechanism_model::PR2BeltCompensatorTransmission
Definition: pr2_belt_transmission.h:47
pr2_mechanism_model::PR2BeltCompensatorTransmission::last_motor_pos_backwards_
double last_motor_pos_backwards_
Definition: pr2_belt_transmission.h:102
pr2_mechanism_model::PR2BeltCompensatorTransmission::last_defl_pos_
double last_defl_pos_
Definition: pr2_belt_transmission.h:85
pr2_mechanism_model::PR2BeltCompensatorTransmission::trans_tau_
double trans_tau_
Definition: pr2_belt_transmission.h:72
pr2_mechanism_model::PR2BeltCompensatorTransmission::trans_compl_
double trans_compl_
Definition: pr2_belt_transmission.h:71
pr2_mechanism_model::PR2BeltCompensatorTransmission::last_joint_pos_backwards_
double last_joint_pos_backwards_
Definition: pr2_belt_transmission.h:106
hardware_interface.h
pr2_mechanism_model::PR2BeltCompensatorTransmission::last_motor_vel_backwards_
double last_motor_vel_backwards_
Definition: pr2_belt_transmission.h:103
joint.h
pr2_mechanism_model::PR2BeltCompensatorTransmission::last_motor_pos_
double last_motor_pos_
Definition: pr2_belt_transmission.h:78
pr2_mechanism_model::PR2BeltCompensatorTransmission::last_joint_pos_
double last_joint_pos_
Definition: pr2_belt_transmission.h:89
pr2_mechanism_model::PR2BeltCompensatorTransmission::PR2BeltCompensatorTransmission
PR2BeltCompensatorTransmission()
Definition: pr2_belt_transmission.h:50
pr2_mechanism_model::PR2BeltCompensatorTransmission::motor_force_backwards_
double motor_force_backwards_
Definition: pr2_belt_transmission.h:100
pr2_mechanism_model::PR2BeltCompensatorTransmission::joint_calibration_simulator_
JointCalibrationSimulator joint_calibration_simulator_
Definition: pr2_belt_transmission.h:113
pr2_mechanism_model::PR2BeltCompensatorTransmission::last_defl_acc_
double last_defl_acc_
Definition: pr2_belt_transmission.h:87
pr2_mechanism_model::PR2BeltCompensatorTransmission::propagateEffort
void propagateEffort(std::vector< pr2_mechanism_model::JointState * > &, std::vector< pr2_hardware_interface::Actuator * > &)
Uses commanded joint efforts to fill out commanded motor currents.
pr2_mechanism_model::PR2BeltCompensatorTransmission::last_defl_vel_
double last_defl_vel_
Definition: pr2_belt_transmission.h:86
pr2_mechanism_model::PR2BeltCompensatorTransmission::propagatePosition
void propagatePosition(std::vector< pr2_hardware_interface::Actuator * > &, std::vector< pr2_mechanism_model::JointState * > &)
Uses encoder data to fill out joint position and velocities.
pr2_mechanism_model::PR2BeltCompensatorTransmission::last_motor_vel_
double last_motor_vel_
Definition: pr2_belt_transmission.h:79
pr2_mechanism_model::PR2BeltCompensatorTransmission::last_jnt1_vel_
double last_jnt1_vel_
Definition: pr2_belt_transmission.h:82
pr2_mechanism_model::PR2BeltCompensatorTransmission::initXml
bool initXml(TiXmlElement *config, Robot *robot)
Initializes the transmission from XML data.
transmission.h
pr2_mechanism_model::Robot
This class provides the controllers with an interface to the robot model.
Definition: robot.h:78
pr2_mechanism_model::PR2BeltCompensatorTransmission::lambda_joint_
double lambda_joint_
Definition: pr2_belt_transmission.h:75
pr2_mechanism_model::PR2BeltCompensatorTransmission::last_jnt1_acc_
double last_jnt1_acc_
Definition: pr2_belt_transmission.h:83
pr2_mechanism_model::PR2BeltCompensatorTransmission::last_timestamp_
ros::Duration last_timestamp_
Definition: pr2_belt_transmission.h:66
pr2_mechanism_model::JointCalibrationSimulator
Definition: joint_calibration_simulator.h:42
pr2_mechanism_model::PR2BeltCompensatorTransmission::simulated_actuator_timestamp_initialized_
int simulated_actuator_timestamp_initialized_
Definition: pr2_belt_transmission.h:109
ros::Time
pr2_mechanism_model::PR2BeltCompensatorTransmission::simulated_actuator_start_time_
ros::Time simulated_actuator_start_time_
Definition: pr2_belt_transmission.h:110
pr2_mechanism_model::PR2BeltCompensatorTransmission::~PR2BeltCompensatorTransmission
~PR2BeltCompensatorTransmission()
Definition: pr2_belt_transmission.h:51
pr2_mechanism_model::PR2BeltCompensatorTransmission::delta_motor_vel_
double delta_motor_vel_
Definition: pr2_belt_transmission.h:92
pr2_mechanism_model::PR2BeltCompensatorTransmission::dt
double dt
Definition: pr2_belt_transmission.h:67
ros::Duration
pr2_mechanism_model::PR2BeltCompensatorTransmission::last_joint_vel_
double last_joint_vel_
Definition: pr2_belt_transmission.h:90
pr2_mechanism_model::PR2BeltCompensatorTransmission::propagateEffortBackwards
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.
joint_calibration_simulator.h
pr2_mechanism_model::PR2BeltCompensatorTransmission::last_jnt1_pos_
double last_jnt1_pos_
Definition: pr2_belt_transmission.h:81
pr2_mechanism_model::PR2BeltCompensatorTransmission::lambda_motor_
double lambda_motor_
Definition: pr2_belt_transmission.h:74


pr2_mechanism_model
Author(s): Eric Berger berger@willowgarage.com, Stuart Glaser, Wim Meeussen
autogenerated on Mon Mar 6 2023 03:49:17