Abstract base class for representing mechanical transmissions. More...
#include <transmission.h>
Public Member Functions | |
| virtual void | actuatorToJointEffort (const ActuatorData &act_data, JointData &jnt_data)=0 |
| Transform effort variables from actuator to joint space. More... | |
| virtual void | actuatorToJointPosition (const ActuatorData &act_data, JointData &jnt_data)=0 |
| Transform position variables from actuator to joint space. More... | |
| virtual void | actuatorToJointVelocity (const ActuatorData &act_data, JointData &jnt_data)=0 |
| Transform velocity variables from actuator to joint space. More... | |
| virtual void | jointToActuatorEffort (const JointData &jnt_data, ActuatorData &act_data)=0 |
| Transform effort variables from joint to actuator space. More... | |
| virtual void | jointToActuatorPosition (const JointData &jnt_data, ActuatorData &act_data)=0 |
| Transform position variables from joint to actuator space. More... | |
| virtual void | jointToActuatorVelocity (const JointData &jnt_data, ActuatorData &act_data)=0 |
| Transform velocity variables from joint to actuator space. More... | |
| virtual std::size_t | numActuators () const =0 |
| virtual std::size_t | numJoints () const =0 |
| virtual | ~Transmission () |
Detailed Description
Abstract base class for representing mechanical transmissions.
Mechanical transmissions transform effort/flow variables such that their product (power) remains constant. Effort variables for linear and rotational domains are force and torque; while the flow variables are respectively linear velocity and angular velocity.
In robotics it is customary to place transmissions between actuators and joints. This interface adheres to this naming to identify the input and output spaces of the transformation. The provided interfaces allow bidirectional mappings between actuator and joint spaces for effort, velocity and position. Position is not a power variable, but the mappings can be implemented using the velocity map plus an integration constant representing the offset between actuator and joint zeros.
- Credit
- This interface was inspired by similar existing implementations by PAL Robotics, S.L. and Willow Garage Inc.
- Note
- Implementations of this interface must take care of realtime-safety if the code is to be run in realtime contexts, as is often the case in robot control.
Definition at line 87 of file transmission.h.
Constructor & Destructor Documentation
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inlinevirtual |
Definition at line 90 of file transmission.h.
Member Function Documentation
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pure virtual |
Transform effort variables from actuator to joint space.
- Parameters
-
[in] act_data Actuator-space variables. [out] jnt_data Joint-space variables.
- Precondition
- All non-empty vectors must contain valid data and their size should be consistent with the number of transmission actuators and joints. Data vectors not used in this map can remain empty.
Implemented in transmission_interface::DifferentialTransmission, transmission_interface::FourBarLinkageTransmission, and transmission_interface::SimpleTransmission.
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pure virtual |
Transform position variables from actuator to joint space.
- Parameters
-
[in] act_data Actuator-space variables. [out] jnt_data Joint-space variables.
- Precondition
- All non-empty vectors must contain valid data and their size should be consistent with the number of transmission actuators and joints. Data vectors not used in this map can remain empty.
Implemented in transmission_interface::DifferentialTransmission, transmission_interface::FourBarLinkageTransmission, and transmission_interface::SimpleTransmission.
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pure virtual |
Transform velocity variables from actuator to joint space.
- Parameters
-
[in] act_data Actuator-space variables. [out] jnt_data Joint-space variables.
- Precondition
- All non-empty vectors must contain valid data and their size should be consistent with the number of transmission actuators and joints. Data vectors not used in this map can remain empty.
Implemented in transmission_interface::DifferentialTransmission, transmission_interface::FourBarLinkageTransmission, and transmission_interface::SimpleTransmission.
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pure virtual |
Transform effort variables from joint to actuator space.
- Parameters
-
[in] jnt_data Joint-space variables. [out] act_data Actuator-space variables.
- Precondition
- All non-empty vectors must contain valid data and their size should be consistent with the number of transmission actuators and joints. Data vectors not used in this map can remain empty.
Implemented in transmission_interface::DifferentialTransmission, transmission_interface::FourBarLinkageTransmission, and transmission_interface::SimpleTransmission.
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pure virtual |
Transform position variables from joint to actuator space.
- Parameters
-
[in] jnt_data Joint-space variables. [out] act_data Actuator-space variables.
- Precondition
- All non-empty vectors must contain valid data and their size should be consistent with the number of transmission actuators and joints. Data vectors not used in this map can remain empty.
Implemented in transmission_interface::DifferentialTransmission, transmission_interface::FourBarLinkageTransmission, and transmission_interface::SimpleTransmission.
|
pure virtual |
Transform velocity variables from joint to actuator space.
- Parameters
-
[in] jnt_data Joint-space variables. [out] act_data Actuator-space variables.
- Precondition
- All non-empty vectors must contain valid data and their size should be consistent with the number of transmission actuators and joints. Data vectors not used in this map can remain empty.
Implemented in transmission_interface::DifferentialTransmission, transmission_interface::FourBarLinkageTransmission, and transmission_interface::SimpleTransmission.
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pure virtual |
- Returns
- Number of actuators managed by transmission, ie. the dimension of the actuator space.
Implemented in transmission_interface::DifferentialTransmission, transmission_interface::FourBarLinkageTransmission, and transmission_interface::SimpleTransmission.
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pure virtual |
- Returns
- Number of joints managed by transmission, ie. the dimension of the joint space.
Implemented in transmission_interface::DifferentialTransmission, transmission_interface::FourBarLinkageTransmission, and transmission_interface::SimpleTransmission.
The documentation for this class was generated from the following file: