null_transmission.cpp
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34 /*
35  * Author: Stuart Glaser
36  *
37  * modified by Ugo Cupcic
38  */
39 
41 #include <string>
42 
43 using std::string;
44 using ros_ethercat_model::RobotState;
45 using ros_ethercat_model::Transmission;
46 
47 PLUGINLIB_EXPORT_CLASS(sr_mechanism_model::NullTransmission, Transmission)
48 
49 namespace sr_mechanism_model
50 {
51 
52  bool NullTransmission::initXml(TiXmlElement *elt, RobotState *robot)
53  {
54  if (!Transmission::initXml(elt, robot))
55  {
56  return false;
57  }
58 
59  // reading the joint name
60  TiXmlElement *jel = elt->FirstChildElement("joint");
61  if (!jel || !jel->Attribute("name"))
62  {
63  ROS_ERROR_STREAM("Joint name not specified in transmission " << name_);
64  return false;
65  }
66 
67  TiXmlElement *ael = elt->FirstChildElement("actuator");
68  if (!ael || !ael->Attribute("name"))
69  {
70  ROS_ERROR_STREAM("Transmission " << name_ << " has no actuator in configuration");
71  return false;
72  }
73 
74  joint_ = robot->getJointState(jel->Attribute("name"));
75  actuator_ = new ros_ethercat_model::Actuator();
76  actuator_->name_ = ael->Attribute("name");
77  actuator_->command_.enable_ = true;
78 
79  return true;
80  }
81 
82  void NullTransmission::propagatePosition()
83  {
84 // SrMotorActuator *act = static_cast<SrMotorActuator*>(actuator_);
85 // joint_->position_ = act->state_.position_;
86 // joint_->velocity_ = act->state_.velocity_;
87 // joint_->effort_ = act->state_.last_measured_effort_;
88  }
89 
90  void NullTransmission::propagateEffort()
91  {
92 // SrMotorActuator *act = static_cast<SrMotorActuator*>(actuator_);
93 // act->command_.enable_ = true;
94 // act->command_.effort_ = joint_->commanded_effort_;
95  }
96 
97 } // namespace sr_mechanism_model
98 
99 /* For the emacs weenies in the crowd.
100 Local Variables:
101  c-basic-offset: 2
102 End:
103  */
#define ROS_ERROR_STREAM(args)


sr_mechanism_model
Author(s): Ugo Cupcic
autogenerated on Tue Oct 13 2020 03:55:44