Public Member Functions | Public Attributes | List of all members
pr2_mechanism_model::Transmission Class Referenceabstract

#include <transmission.h>

Inheritance diagram for pr2_mechanism_model::Transmission:
Inheritance graph
[legend]

Public Member Functions

virtual bool initXml (TiXmlElement *config, Robot *robot)=0
 Initializes the transmission from XML data. More...
 
virtual bool initXml (TiXmlElement *config)
 Initializes the transmission from XML data. More...
 
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. More...
 
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. More...
 
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. More...
 
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. More...
 
 Transmission ()
 Constructor. More...
 
virtual ~Transmission ()
 Destructor. More...
 

Public Attributes

std::vector< std::string > actuator_names_
 
std::vector< std::string > joint_names_
 
std::string name_
 the name of the transmission More...
 

Detailed Description

Definition at line 48 of file transmission.h.

Constructor & Destructor Documentation

◆ Transmission()

pr2_mechanism_model::Transmission::Transmission ( )
inline

Constructor.

Definition at line 52 of file transmission.h.

◆ ~Transmission()

virtual pr2_mechanism_model::Transmission::~Transmission ( )
inlinevirtual

Destructor.

Definition at line 55 of file transmission.h.

Member Function Documentation

◆ initXml() [1/2]

virtual bool pr2_mechanism_model::Transmission::initXml ( TiXmlElement *  config,
Robot robot 
)
pure virtual

◆ initXml() [2/2]

virtual bool pr2_mechanism_model::Transmission::initXml ( TiXmlElement *  config)
inlinevirtual

◆ propagateEffort()

virtual void pr2_mechanism_model::Transmission::propagateEffort ( std::vector< pr2_mechanism_model::JointState *> &  ,
std::vector< pr2_hardware_interface::Actuator *> &   
)
pure virtual

◆ propagateEffortBackwards()

virtual void pr2_mechanism_model::Transmission::propagateEffortBackwards ( std::vector< pr2_hardware_interface::Actuator *> &  ,
std::vector< pr2_mechanism_model::JointState *> &   
)
pure virtual

◆ propagatePosition()

virtual void pr2_mechanism_model::Transmission::propagatePosition ( std::vector< pr2_hardware_interface::Actuator *> &  ,
std::vector< pr2_mechanism_model::JointState *> &   
)
pure virtual

◆ propagatePositionBackwards()

virtual void pr2_mechanism_model::Transmission::propagatePositionBackwards ( std::vector< pr2_mechanism_model::JointState *> &  ,
std::vector< pr2_hardware_interface::Actuator *> &   
)
pure virtual

Member Data Documentation

◆ actuator_names_

std::vector<std::string> pr2_mechanism_model::Transmission::actuator_names_

Specifies the names of the actuators that this transmission uses. In the propagate* methods, the order of actuators and joints in the parameters matches the order in actuator_names_ and in joint_names_.

Definition at line 85 of file transmission.h.

◆ joint_names_

std::vector<std::string> pr2_mechanism_model::Transmission::joint_names_

Specifies the names of the joints that this transmission uses. In the propagate* methods, the order of actuators and joints in the parameters matches the order in actuator_names_ and in joint_names_.

Definition at line 93 of file transmission.h.

◆ name_

std::string pr2_mechanism_model::Transmission::name_

the name of the transmission

Definition at line 77 of file transmission.h.


The documentation for this class was generated from the following file:


pr2_mechanism_model
Author(s): Eric Berger berger@willowgarage.com, Stuart Glaser, Wim Meeussen
autogenerated on Sun Aug 16 2020 03:58:35