wrist_transmission.h
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34 /*
35  * Author: Melonee Wise
36 
37  example xml:
38  <robot name="wrist_trans">
39  <joint name="right_wrist_flex_joint" type="revolute">
40  <limit min="-0.157" max="2.409" effort="5" velocity="5" />
41  <axis xyz="0 0 1" />
42  </joint>
43 
44  <joint name="right_wrist_roll_joint" type="continuous">
45  <limit min="0.0" max="0.0" effort="5" velocity="5" />
46  <axis xyz="0 0 1" />
47  </joint>
48 
49  <transmission type="WristTransmission" name="wrist_trans">
50  <rightActuator name="right_wrist_r_motor" mechanicalReduction="60.17"/>
51  <leftActuator name="right_wrist_l_motor" mechanicalReduction="60.17"/>
52  <flexJoint name="wrist_right_flex_joint" mechanicalReduction="1"/>
53  <rollJoint name="wrist_right_roll_joint" mechanicalReduction="1"/>
54  </transmission>
55  </robot>
56  */
57 #ifndef WRIST_TRANSMISSION_H
58 #define WRIST_TRANSMISSION_H
59 
60 #include <tinyxml.h>
65 
66 namespace pr2_mechanism_model {
67 
68 class WristTransmission : public Transmission
69 {
70 public:
73 
74  bool initXml(TiXmlElement *config, Robot *robot);
75  bool initXml(TiXmlElement *config);
76 
77  std::vector<double> actuator_reduction_;
78  std::vector<double> joint_reduction_;
79  double joint_offset_[2];
80 
81  // Describes the order of the actuators and the joints in the arrays
82  // of names and of those passed to propagate*
83  enum { RIGHT_MOTOR, LEFT_MOTOR };
84  enum { FLEX_JOINT, ROLL_JOINT };
85 
86  void propagatePosition(std::vector<pr2_hardware_interface::Actuator*>&,
87  std::vector<pr2_mechanism_model::JointState*>&);
88  void propagatePositionBackwards(std::vector<pr2_mechanism_model::JointState*>&,
89  std::vector<pr2_hardware_interface::Actuator*>&);
90  void propagateEffort(std::vector<pr2_mechanism_model::JointState*>&,
91  std::vector<pr2_hardware_interface::Actuator*>&);
92  void propagateEffortBackwards(std::vector<pr2_hardware_interface::Actuator*>&,
93  std::vector<pr2_mechanism_model::JointState*>&);
94  void setReductions(std::vector<double>& ar, std::vector<double>& jr);
95 
96 private:
99 
101 };
102 
103 } // namespace pr2_mechanism_model
104 
105 #endif
pr2_mechanism_model::WristTransmission::ROLL_JOINT
@ ROLL_JOINT
Definition: wrist_transmission.h:148
pr2_mechanism_model::WristTransmission::joint_reduction_
std::vector< double > joint_reduction_
Definition: wrist_transmission.h:142
pr2_mechanism_model
Definition: chain.h:41
pr2_mechanism_model::WristTransmission::initXml
bool initXml(TiXmlElement *config, Robot *robot)
Initializes the transmission from XML data.
Definition: wrist_transmission.cpp:68
pr2_mechanism_model::WristTransmission::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.
Definition: wrist_transmission.cpp:390
hardware_interface.h
joint.h
pr2_mechanism_model::WristTransmission::FLEX_JOINT
@ FLEX_JOINT
Definition: wrist_transmission.h:148
pr2_mechanism_model::WristTransmission::joint_calibration_simulator_
JointCalibrationSimulator joint_calibration_simulator_[2]
Definition: wrist_transmission.h:164
pr2_mechanism_model::WristTransmission::actuator_reduction_
std::vector< double > actuator_reduction_
Definition: wrist_transmission.h:141
pr2_mechanism_model::WristTransmission::LEFT_MOTOR
@ LEFT_MOTOR
Definition: wrist_transmission.h:147
pr2_mechanism_model::WristTransmission::setReductions
void setReductions(std::vector< double > &ar, std::vector< double > &jr)
Definition: wrist_transmission.cpp:401
pr2_mechanism_model::WristTransmission::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.
Definition: wrist_transmission.cpp:331
transmission.h
Robot
pr2_mechanism_model::WristTransmission::simulated_actuator_timestamp_initialized_
int simulated_actuator_timestamp_initialized_
Definition: wrist_transmission.h:161
pr2_mechanism_model::WristTransmission::~WristTransmission
~WristTransmission()
Definition: wrist_transmission.h:136
pr2_mechanism_model::JointCalibrationSimulator
Definition: joint_calibration_simulator.h:42
pr2_mechanism_model::WristTransmission::WristTransmission
WristTransmission()
Definition: wrist_transmission.cpp:61
pr2_mechanism_model::WristTransmission::joint_offset_
double joint_offset_[2]
Definition: wrist_transmission.h:143
ros::Time
pr2_mechanism_model::WristTransmission::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.
Definition: wrist_transmission.cpp:377
pr2_mechanism_model::WristTransmission::RIGHT_MOTOR
@ RIGHT_MOTOR
Definition: wrist_transmission.h:147
pr2_mechanism_model::WristTransmission::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.
Definition: wrist_transmission.cpp:314
pr2_mechanism_model::WristTransmission::simulated_actuator_start_time_
ros::Time simulated_actuator_start_time_
Definition: wrist_transmission.h:162
joint_calibration_simulator.h


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