00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 /* 00035 * Author: Stuart Glaser 00036 * 00037 * modified by Ugo Cupcic 00038 */ 00039 00040 #include "sr_mechanism_model/null_transmission.hpp" 00041 00042 using namespace ros_ethercat_model; 00043 using namespace std; 00044 using namespace sr_actuator; 00045 00046 PLUGINLIB_EXPORT_CLASS(sr_mechanism_model::NullTransmission, Transmission) 00047 00048 namespace sr_mechanism_model 00049 { 00050 00051 bool NullTransmission::initXml(TiXmlElement *elt, RobotState *robot) 00052 { 00053 if (!ros_ethercat_model::Transmission::initXml(elt, robot)) 00054 return false; 00055 00056 //reading the joint name 00057 TiXmlElement *jel = elt->FirstChildElement("joint"); 00058 if (!jel || !jel->Attribute("name")) 00059 { 00060 ROS_ERROR_STREAM("Joint name not specified in transmission " << name_); 00061 return false; 00062 } 00063 00064 TiXmlElement *ael = elt->FirstChildElement("actuator"); 00065 if (!ael || !ael->Attribute("name")) 00066 { 00067 ROS_ERROR_STREAM("Transmission " << name_ << " has no actuator in configuration"); 00068 return false; 00069 } 00070 00071 joint_ = robot->getJointState(jel->Attribute("name")); 00072 actuator_ = new ros_ethercat_model::Actuator(); 00073 actuator_->name_ = ael->Attribute("name"); 00074 actuator_->command_.enable_ = true; 00075 00076 return true; 00077 } 00078 00079 void NullTransmission::propagatePosition() 00080 { 00081 // SrMotorActuator *act = static_cast<SrMotorActuator*>(actuator_); 00082 // joint_->position_ = act->state_.position_; 00083 // joint_->velocity_ = act->state_.velocity_; 00084 // joint_->effort_ = act->state_.last_measured_effort_; 00085 } 00086 00087 void NullTransmission::propagateEffort() 00088 { 00089 // SrMotorActuator *act = static_cast<SrMotorActuator*>(actuator_); 00090 // act->command_.enable_ = true; 00091 // act->command_.effort_ = joint_->commanded_effort_; 00092 } 00093 00094 } //end namespace 00095 00096 /* For the emacs weenies in the crowd. 00097 Local Variables: 00098 c-basic-offset: 2 00099 End: 00100 */