00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 /* 00035 * Author: Stuart Glaser 00036 */ 00037 #ifndef SIMPLE_TRANSMISSION_H 00038 #define SIMPLE_TRANSMISSION_H 00039 00040 #include <tinyxml.h> 00041 #include "pr2_mechanism_model/transmission.h" 00042 #include "pr2_mechanism_model/joint.h" 00043 #include "pr2_hardware_interface/hardware_interface.h" 00044 #include "pr2_mechanism_model/joint_calibration_simulator.h" 00045 00046 namespace pr2_mechanism_model { 00047 00048 class SimpleTransmission : public Transmission 00049 { 00050 public: 00051 SimpleTransmission() {use_simulated_actuated_joint_=false;} 00052 ~SimpleTransmission() {} 00053 00054 bool initXml(TiXmlElement *config, Robot *robot); 00055 bool initXml(TiXmlElement *config); 00056 00057 double mechanical_reduction_; 00058 00059 void propagatePosition(std::vector<pr2_hardware_interface::Actuator*>&, 00060 std::vector<pr2_mechanism_model::JointState*>&); 00061 void propagatePositionBackwards(std::vector<pr2_mechanism_model::JointState*>&, 00062 std::vector<pr2_hardware_interface::Actuator*>&); 00063 void propagateEffort(std::vector<pr2_mechanism_model::JointState*>&, 00064 std::vector<pr2_hardware_interface::Actuator*>&); 00065 void propagateEffortBackwards(std::vector<pr2_hardware_interface::Actuator*>&, 00066 std::vector<pr2_mechanism_model::JointState*>&); 00067 00068 private: 00069 // if a actuated_joint is specified, apply torque based on simulated_reduction_ 00070 double simulated_reduction_; 00071 bool use_simulated_actuated_joint_; 00072 00073 int simulated_actuator_timestamp_initialized_; 00074 ros::Time simulated_actuator_start_time_; 00075 00076 JointCalibrationSimulator joint_calibration_simulator_; 00077 }; 00078 00079 } // namespace pr2_mechanism_model 00080 00081 #endif