transmission.h
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34 /*
35  * Author: Stuart Glaser
36  */
37 #ifndef TRANSMISSION_H
38 #define TRANSMISSION_H
39 
40 #include <tinyxml.h>
43 
44 namespace pr2_mechanism_model {
45 
46 class Robot;
47 
48 class Transmission
49 {
50 public:
52  Transmission() {}
53 
55  virtual ~Transmission() {}
56 
58  virtual bool initXml(TiXmlElement *config, Robot *robot) = 0;
59 
61  virtual void propagatePosition(std::vector<pr2_hardware_interface::Actuator*>&,
62  std::vector<pr2_mechanism_model::JointState*>&) = 0;
63 
65  virtual void propagatePositionBackwards(std::vector<pr2_mechanism_model::JointState*>&,
66  std::vector<pr2_hardware_interface::Actuator*>&) = 0;
67 
69  virtual void propagateEffort(std::vector<pr2_mechanism_model::JointState*>&,
70  std::vector<pr2_hardware_interface::Actuator*>&) = 0;
71 
73  virtual void propagateEffortBackwards(std::vector<pr2_hardware_interface::Actuator*>&,
74  std::vector<pr2_mechanism_model::JointState*>&) = 0;
75 
77  std::string name_;
78 
85  std::vector<std::string> actuator_names_;
86 
93  std::vector<std::string> joint_names_;
94 
96  virtual bool initXml(TiXmlElement *config) { abort(); } // In future versions, this method is mandatory in subclasses
97 };
98 
99 } // namespace pr2_mechanism_model
100 
101 #endif
pr2_mechanism_model::Transmission::Transmission
Transmission()
Constructor.
Definition: transmission.h:84
pr2_mechanism_model::Transmission::name_
std::string name_
the name of the transmission
Definition: transmission.h:109
pr2_mechanism_model::Transmission::~Transmission
virtual ~Transmission()
Destructor.
Definition: transmission.h:87
pr2_mechanism_model
Definition: chain.h:41
pr2_mechanism_model::Transmission::propagatePositionBackwards
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.
hardware_interface.h
pr2_mechanism_model::Transmission::actuator_names_
std::vector< std::string > actuator_names_
Definition: transmission.h:117
joint.h
pr2_mechanism_model::Transmission::joint_names_
std::vector< std::string > joint_names_
Definition: transmission.h:125
pr2_mechanism_model::Transmission::propagateEffort
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.
Robot
pr2_mechanism_model::Transmission::initXml
virtual bool initXml(TiXmlElement *config, Robot *robot)=0
Initializes the transmission from XML data.
pr2_mechanism_model::Transmission::propagateEffortBackwards
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.
pr2_mechanism_model::Transmission::propagatePosition
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.


pr2_mechanism_model
Author(s): Eric Berger berger@willowgarage.com, Stuart Glaser, Wim Meeussen
autogenerated on Thu Dec 3 2020 03:52:56