pr2_mechanism_model::PR2BeltCompensatorTransmission Class Reference

#include <pr2_belt_transmission.h>

Inheritance diagram for pr2_mechanism_model::PR2BeltCompensatorTransmission:

Public Member Functions
bool	initXml (TiXmlElement *config)
	Initializes the transmission from XML data.
bool	initXml (TiXmlElement config, Robot robot)
	Initializes the transmission from XML data.
	PR2BeltCompensatorTransmission ()
void	propagateEffort (std::vector< pr2_mechanism_model::JointState * > &, std::vector< pr2_hardware_interface::Actuator * > &)
	Uses commanded joint efforts to fill out commanded motor currents.
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.
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's encoder.
	~PR2BeltCompensatorTransmission ()
Private Attributes
double	delta_motor_vel_
double	dt
double	halfdt_backwards_
JointCalibrationSimulator	joint_calibration_simulator_
double	Kd_motor_
double	lambda_combo_
double	lambda_joint_
double	lambda_motor_
double	last_defl_acc_
double	last_defl_pos_
double	last_defl_vel_
double	last_jnt1_acc_
double	last_jnt1_pos_
double	last_jnt1_vel_
double	last_joint_pos_
double	last_joint_pos_backwards_
double	last_joint_vel_
double	last_joint_vel_backwards_
double	last_motor_acc_backwards_
double	last_motor_damping_force_
double	last_motor_pos_
double	last_motor_pos_backwards_
double	last_motor_vel_
double	last_motor_vel_backwards_
ros::Duration	last_timestamp_
ros::Duration	last_timestamp_backwards_
double	mechanical_reduction_
double	motor_force_backwards_
ros::Time	simulated_actuator_start_time_
int	simulated_actuator_timestamp_initialized_
double	trans_compl_
double	trans_tau_

Detailed Description

PROPAGATE*BACKWARDS IS NOT GUARANTEED TO WORK

Definition at line 47 of file pr2_belt_transmission.h.

Constructor & Destructor Documentation

pr2_mechanism_model::PR2BeltCompensatorTransmission::PR2BeltCompensatorTransmission ( ) [inline]

Definition at line 50 of file pr2_belt_transmission.h.

pr2_mechanism_model::PR2BeltCompensatorTransmission::~PR2BeltCompensatorTransmission ( ) [inline]

Definition at line 51 of file pr2_belt_transmission.h.

Member Function Documentation

bool pr2_mechanism_model::PR2BeltCompensatorTransmission::initXml ( TiXmlElement * config ) [virtual]

Initializes the transmission from XML data.

Reimplemented from pr2_mechanism_model::Transmission.

bool pr2_mechanism_model::PR2BeltCompensatorTransmission::initXml	(	TiXmlElement *	config,
		Robot *	robot
	)			`[virtual]`

Initializes the transmission from XML data.

Implements pr2_mechanism_model::Transmission.

void pr2_mechanism_model::PR2BeltCompensatorTransmission::propagateEffort	(	std::vector< pr2_mechanism_model::JointState * > &	,
		std::vector< pr2_hardware_interface::Actuator * > &
	)			`[virtual]`

Uses commanded joint efforts to fill out commanded motor currents.

Implements pr2_mechanism_model::Transmission.

void pr2_mechanism_model::PR2BeltCompensatorTransmission::propagateEffortBackwards	(	std::vector< pr2_hardware_interface::Actuator * > &	,
		std::vector< pr2_mechanism_model::JointState * > &
	)			`[virtual]`

Uses the actuator's commanded effort to fill out the torque on the joint.

Implements pr2_mechanism_model::Transmission.

void pr2_mechanism_model::PR2BeltCompensatorTransmission::propagatePosition	(	std::vector< pr2_hardware_interface::Actuator * > &	,
		std::vector< pr2_mechanism_model::JointState * > &
	)			`[virtual]`

Uses encoder data to fill out joint position and velocities.

Implements pr2_mechanism_model::Transmission.

void pr2_mechanism_model::PR2BeltCompensatorTransmission::propagatePositionBackwards	(	std::vector< pr2_mechanism_model::JointState * > &	,
		std::vector< pr2_hardware_interface::Actuator * > &
	)			`[virtual]`