simple_transmission.h
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34 /*
35  * Author: Stuart Glaser
36  */
37 #ifndef SIMPLE_TRANSMISSION_H
38 #define SIMPLE_TRANSMISSION_H
39 
40 #include <tinyxml.h>
45 
46 namespace pr2_mechanism_model {
47 
49 {
50 public:
53 
54  bool initXml(TiXmlElement *config, Robot *robot);
55  bool initXml(TiXmlElement *config);
56 
58 
59  void propagatePosition(std::vector<pr2_hardware_interface::Actuator*>&,
60  std::vector<pr2_mechanism_model::JointState*>&);
61  void propagatePositionBackwards(std::vector<pr2_mechanism_model::JointState*>&,
62  std::vector<pr2_hardware_interface::Actuator*>&);
63  void propagateEffort(std::vector<pr2_mechanism_model::JointState*>&,
64  std::vector<pr2_hardware_interface::Actuator*>&);
65  void propagateEffortBackwards(std::vector<pr2_hardware_interface::Actuator*>&,
66  std::vector<pr2_mechanism_model::JointState*>&);
67 
68 private:
69  // if a actuated_joint is specified, apply torque based on simulated_reduction_
72 
75 
77 };
78 
79 } // namespace pr2_mechanism_model
80 
81 #endif
void propagatePosition(std::vector< pr2_hardware_interface::Actuator *> &, std::vector< pr2_mechanism_model::JointState *> &)
Uses encoder data to fill out joint position and velocities.
void propagatePositionBackwards(std::vector< pr2_mechanism_model::JointState *> &, std::vector< pr2_hardware_interface::Actuator *> &)
Uses the joint position to fill out the actuator&#39;s encoder.
void propagateEffort(std::vector< pr2_mechanism_model::JointState *> &, std::vector< pr2_hardware_interface::Actuator *> &)
Uses commanded joint efforts to fill out commanded motor currents.
JointCalibrationSimulator joint_calibration_simulator_
bool initXml(TiXmlElement *config, Robot *robot)
Initializes the transmission from XML data.
void propagateEffortBackwards(std::vector< pr2_hardware_interface::Actuator *> &, std::vector< pr2_mechanism_model::JointState *> &)
Uses the actuator&#39;s commanded effort to fill out the torque on the joint.
This class provides the controllers with an interface to the robot model.
Definition: robot.h:78


pr2_mechanism_model
Author(s): Eric Berger berger@willowgarage.com, Stuart Glaser, Wim Meeussen
autogenerated on Tue Mar 7 2023 03:54:53