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30 #ifndef PR2_BELT_COMPENSATOR_TRANSMISSION_H
31 #define PR2_BELT_COMPENSATOR_TRANSMISSION_H
54 bool initXml(TiXmlElement *config);
57 std::vector<pr2_mechanism_model::JointState*>&);
59 std::vector<pr2_hardware_interface::Actuator*>&);
61 std::vector<pr2_hardware_interface::Actuator*>&);
63 std::vector<pr2_mechanism_model::JointState*>&);
double last_joint_vel_backwards_
double last_motor_damping_force_
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.
double last_motor_acc_backwards_
double mechanical_reduction_
ros::Duration last_timestamp_backwards_
double last_motor_pos_backwards_
double last_joint_pos_backwards_
double last_motor_vel_backwards_
PR2BeltCompensatorTransmission()
double motor_force_backwards_
JointCalibrationSimulator joint_calibration_simulator_
void propagateEffort(std::vector< pr2_mechanism_model::JointState * > &, std::vector< pr2_hardware_interface::Actuator * > &)
Uses commanded joint efforts to fill out commanded motor currents.
void propagatePosition(std::vector< pr2_hardware_interface::Actuator * > &, std::vector< pr2_mechanism_model::JointState * > &)
Uses encoder data to fill out joint position and velocities.
bool initXml(TiXmlElement *config, Robot *robot)
Initializes the transmission from XML data.
This class provides the controllers with an interface to the robot model.
ros::Duration last_timestamp_
int simulated_actuator_timestamp_initialized_
ros::Time simulated_actuator_start_time_
~PR2BeltCompensatorTransmission()
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.
pr2_mechanism_model
Author(s): Eric Berger berger@willowgarage.com, Stuart Glaser, Wim Meeussen
autogenerated on Mon Mar 6 2023 03:49:17