33 using ros_ethercat_model::RobotState;
34 using ros_ethercat_model::Transmission;
41 bool J0TransmissionForMuscle::initXml(TiXmlElement *elt, RobotState *robot)
43 if (!SimpleTransmissionForMuscle::initXml(elt, robot))
48 string joint2_name = joint_->joint_->name;
49 joint2_name[joint2_name.size() - 1] =
'2';
50 joint2_ = robot->getJointState(joint2_name);
55 void J0TransmissionForMuscle::propagatePosition()
70 joint_->velocity_ = act->state_.velocity_ / 2.0;
71 joint2_->velocity_ = act->state_.velocity_ / 2.0;
SrMuscleActuatorState muscle_state_
This is the implementation of the transmission for the joint 0s. We need a specific transmission whic...
std::vector< double > calibrated_sensor_values_
#define ROS_DEBUG_STREAM(args)