transmission_interface::TransmissionInterface< HandleType > Class Template Reference

Interface for propagating a given map on a set of transmissions. More...

#include <transmission_interface.h>

Inheritance diagram for transmission_interface::TransmissionInterface< HandleType >:

List of all members.

Public Member Functions
HandleType	getHandle (const std::string &name)
Real-Time Safe Functions
void	propagate ()
	Propagate the transmission maps of all managed handles.

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Detailed Description

template<class HandleType>
class transmission_interface::TransmissionInterface< HandleType >

Interface for propagating a given map on a set of transmissions.

This map can consist of a single variable (eg. actuator to joint efforts, as implemented by ActuatorToJointEffortHandle) or multiple variables (eg. joint to actuator position, velocity and effort, as implemented by JointToActuatorStateHandle).

The set of transmissions handled by this interface can be heterogeneous, (eg. an arm with a four-bar-linkage in the shoulder, a differential in the wrist, and simple reducers elsewhere).

Template Parameters:

HandleType

Transmission handle type. Must implement the following methods: void propagate(); std::string getName() const;

Definition at line 341 of file transmission_interface.h.

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Member Function Documentation

template<class HandleType>

HandleType transmission_interface::TransmissionInterface< HandleType >::getHandle

(

const std::string &

name

)

[inline]

Reimplemented from hardware_interface::ResourceManager< HandleType >.

Definition at line 345 of file transmission_interface.h.

template<class HandleType>

void transmission_interface::TransmissionInterface< HandleType >::propagate

(

)

[inline]

Propagate the transmission maps of all managed handles.

Definition at line 361 of file transmission_interface.h.

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

• transmission_interface.h