#include <pr2_belt_transmission.h>

Inheritance diagram for pr2_mechanism_model::PR2BeltCompensatorTransmission:

Public Member Functions
bool	initXml (TiXmlElement config, Robot robot)
	Initializes the transmission from XML data. More...

bool	initXml (TiXmlElement *config)
	Initializes the transmission from XML data. More...

	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. More...

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. More...

void	propagatePosition (std::vector< pr2_hardware_interface::Actuator * > &, std::vector< pr2_mechanism_model::JointState * > &)
	Uses encoder data to fill out joint position and velocities. More...

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. More...

	~PR2BeltCompensatorTransmission ()

Public Member Functions inherited from pr2_mechanism_model::Transmission
	Transmission ()
	Constructor. More...

virtual	~Transmission ()
	Destructor. More...

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_

Additional Inherited Members
Public Attributes inherited from pr2_mechanism_model::Transmission
std::vector< std::string >	actuator_names_

std::vector< std::string >	joint_names_

std::string	name_
	the name of the transmission More...

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,
		Robot *	robot
	)

virtual

Initializes the transmission from XML data.

Implements pr2_mechanism_model::Transmission.

bool pr2_mechanism_model::PR2BeltCompensatorTransmission::initXml ( TiXmlElement * config )

virtual

Initializes the transmission from XML data.

Reimplemented from 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

Uses the joint position to fill out the actuator's encoder.

Implements pr2_mechanism_model::Transmission.

Member Data Documentation

double pr2_mechanism_model::PR2BeltCompensatorTransmission::delta_motor_vel_

private

Definition at line 92 of file pr2_belt_transmission.h.

double pr2_mechanism_model::PR2BeltCompensatorTransmission::dt

private

Definition at line 67 of file pr2_belt_transmission.h.

double pr2_mechanism_model::PR2BeltCompensatorTransmission::halfdt_backwards_

private

Definition at line 98 of file pr2_belt_transmission.h.

JointCalibrationSimulator pr2_mechanism_model::PR2BeltCompensatorTransmission::joint_calibration_simulator_

private

Definition at line 113 of file pr2_belt_transmission.h.

double pr2_mechanism_model::PR2BeltCompensatorTransmission::Kd_motor_

private

Definition at line 73 of file pr2_belt_transmission.h.

double pr2_mechanism_model::PR2BeltCompensatorTransmission::lambda_combo_

private

Definition at line 76 of file pr2_belt_transmission.h.

double pr2_mechanism_model::PR2BeltCompensatorTransmission::lambda_joint_

private

Definition at line 75 of file pr2_belt_transmission.h.

double pr2_mechanism_model::PR2BeltCompensatorTransmission::lambda_motor_

private

Definition at line 74 of file pr2_belt_transmission.h.

double pr2_mechanism_model::PR2BeltCompensatorTransmission::last_defl_acc_

private

Definition at line 87 of file pr2_belt_transmission.h.

double pr2_mechanism_model::PR2BeltCompensatorTransmission::last_defl_pos_

private

Definition at line 85 of file pr2_belt_transmission.h.

double pr2_mechanism_model::PR2BeltCompensatorTransmission::last_defl_vel_

private

Definition at line 86 of file pr2_belt_transmission.h.

double pr2_mechanism_model::PR2BeltCompensatorTransmission::last_jnt1_acc_

private

Definition at line 83 of file pr2_belt_transmission.h.

double pr2_mechanism_model::PR2BeltCompensatorTransmission::last_jnt1_pos_

private

Definition at line 81 of file pr2_belt_transmission.h.

double pr2_mechanism_model::PR2BeltCompensatorTransmission::last_jnt1_vel_

private

Definition at line 82 of file pr2_belt_transmission.h.

double pr2_mechanism_model::PR2BeltCompensatorTransmission::last_joint_pos_

private

Definition at line 89 of file pr2_belt_transmission.h.

double pr2_mechanism_model::PR2BeltCompensatorTransmission::last_joint_pos_backwards_

private

Definition at line 106 of file pr2_belt_transmission.h.

double pr2_mechanism_model::PR2BeltCompensatorTransmission::last_joint_vel_

private

Definition at line 90 of file pr2_belt_transmission.h.

double pr2_mechanism_model::PR2BeltCompensatorTransmission::last_joint_vel_backwards_

private

Definition at line 107 of file pr2_belt_transmission.h.

double pr2_mechanism_model::PR2BeltCompensatorTransmission::last_motor_acc_backwards_

private

Definition at line 104 of file pr2_belt_transmission.h.

double pr2_mechanism_model::PR2BeltCompensatorTransmission::last_motor_damping_force_

private

Definition at line 93 of file pr2_belt_transmission.h.

double pr2_mechanism_model::PR2BeltCompensatorTransmission::last_motor_pos_

private

Definition at line 78 of file pr2_belt_transmission.h.

double pr2_mechanism_model::PR2BeltCompensatorTransmission::last_motor_pos_backwards_

private

Definition at line 102 of file pr2_belt_transmission.h.

double pr2_mechanism_model::PR2BeltCompensatorTransmission::last_motor_vel_

private

Definition at line 79 of file pr2_belt_transmission.h.

double pr2_mechanism_model::PR2BeltCompensatorTransmission::last_motor_vel_backwards_

private

Definition at line 103 of file pr2_belt_transmission.h.

ros::Duration pr2_mechanism_model::PR2BeltCompensatorTransmission::last_timestamp_

private

Definition at line 66 of file pr2_belt_transmission.h.

ros::Duration pr2_mechanism_model::PR2BeltCompensatorTransmission::last_timestamp_backwards_

private

Definition at line 97 of file pr2_belt_transmission.h.

double pr2_mechanism_model::PR2BeltCompensatorTransmission::mechanical_reduction_

private

Definition at line 70 of file pr2_belt_transmission.h.

double pr2_mechanism_model::PR2BeltCompensatorTransmission::motor_force_backwards_

private

Definition at line 100 of file pr2_belt_transmission.h.

ros::Time pr2_mechanism_model::PR2BeltCompensatorTransmission::simulated_actuator_start_time_

private

Definition at line 110 of file pr2_belt_transmission.h.

int pr2_mechanism_model::PR2BeltCompensatorTransmission::simulated_actuator_timestamp_initialized_

private

Definition at line 109 of file pr2_belt_transmission.h.

double pr2_mechanism_model::PR2BeltCompensatorTransmission::trans_compl_

private

Definition at line 71 of file pr2_belt_transmission.h.

double pr2_mechanism_model::PR2BeltCompensatorTransmission::trans_tau_

private

Definition at line 72 of file pr2_belt_transmission.h.

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

pr2_belt_transmission.h

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation