simple_transmission.cpp

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/*
 * Author: Stuart Glaser
 *
 * modified by Ugo Cupcic
 */

#include "sr_mechanism_model/simple_transmission.hpp"

using namespace ros_ethercat_model;
using namespace std;
using namespace sr_actuator;

PLUGINLIB_EXPORT_CLASS(sr_mechanism_model::SimpleTransmission, Transmission)

namespace sr_mechanism_model
{

bool SimpleTransmission::initXml(TiXmlElement *elt, RobotState *robot)
{
  if (!ros_ethercat_model::Transmission::initXml(elt, robot))
    return false;

  //reading the joint name
  TiXmlElement *jel = elt->FirstChildElement("joint");
  if (!jel || !jel->Attribute("name"))
  {
    ROS_ERROR_STREAM("Joint name not specified in transmission " << name_);
    return false;
  }

  TiXmlElement *ael = elt->FirstChildElement("actuator");
  if (!ael || !ael->Attribute("name"))
  {
    ROS_ERROR_STREAM("Transmission " << name_ << " has no actuator in configuration");
    return false;
  }

  joint_ = robot->getJointState(jel->Attribute("name"));
  actuator_ = new SrMotorActuator();
  actuator_->name_ = ael->Attribute("name");
  actuator_->command_.enable_ = true;

  return true;
}

void SimpleTransmission::propagatePosition()
{
  SrMotorActuator *act = static_cast<SrMotorActuator*>(actuator_);
  joint_->position_ = act->state_.position_;
  joint_->velocity_ = act->state_.velocity_;
  joint_->effort_ = act->state_.last_measured_effort_;
}

void SimpleTransmission::propagateEffort()
{
  SrMotorActuator *act = static_cast<SrMotorActuator*>(actuator_);
  act->command_.enable_ = true;
  act->command_.effort_ = joint_->commanded_effort_;
}

} //end namespace

/* For the emacs weenies in the crowd.
Local Variables:
   c-basic-offset: 2
End:
 */