transmission.h
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34 /*
35  * Author: Stuart Glaser
36  */
37 #ifndef TRANSMISSION_H
38 #define TRANSMISSION_H
39 
40 #include <tinyxml.h>
43 
44 namespace pr2_mechanism_model {
45 
46 class Robot;
47 
49 {
50 public:
53 
55  virtual ~Transmission() {}
56 
58  virtual bool initXml(TiXmlElement *config, Robot *robot) = 0;
59 
61  virtual void propagatePosition(std::vector<pr2_hardware_interface::Actuator*>&,
62  std::vector<pr2_mechanism_model::JointState*>&) = 0;
63 
65  virtual void propagatePositionBackwards(std::vector<pr2_mechanism_model::JointState*>&,
66  std::vector<pr2_hardware_interface::Actuator*>&) = 0;
67 
69  virtual void propagateEffort(std::vector<pr2_mechanism_model::JointState*>&,
70  std::vector<pr2_hardware_interface::Actuator*>&) = 0;
71 
73  virtual void propagateEffortBackwards(std::vector<pr2_hardware_interface::Actuator*>&,
74  std::vector<pr2_mechanism_model::JointState*>&) = 0;
75 
77  std::string name_;
78 
85  std::vector<std::string> actuator_names_;
86 
93  std::vector<std::string> joint_names_;
94 
96  virtual bool initXml(TiXmlElement *config) { abort(); } // In future versions, this method is mandatory in subclasses
97 };
98 
99 } // namespace pr2_mechanism_model
100 
101 #endif
virtual void propagateEffort(std::vector< pr2_mechanism_model::JointState * > &, std::vector< pr2_hardware_interface::Actuator * > &)=0
Uses commanded joint efforts to fill out commanded motor currents.
virtual void propagatePosition(std::vector< pr2_hardware_interface::Actuator * > &, std::vector< pr2_mechanism_model::JointState * > &)=0
Uses encoder data to fill out joint position and velocities.
virtual ~Transmission()
Destructor.
Definition: transmission.h:55
std::vector< std::string > actuator_names_
Definition: transmission.h:85
virtual void propagateEffortBackwards(std::vector< pr2_hardware_interface::Actuator * > &, std::vector< pr2_mechanism_model::JointState * > &)=0
Uses the actuator&#39;s commanded effort to fill out the torque on the joint.
virtual bool initXml(TiXmlElement *config)
Initializes the transmission from XML data.
Definition: transmission.h:96
std::vector< std::string > joint_names_
Definition: transmission.h:93
virtual void propagatePositionBackwards(std::vector< pr2_mechanism_model::JointState * > &, std::vector< pr2_hardware_interface::Actuator * > &)=0
Uses the joint position to fill out the actuator&#39;s encoder.
std::string name_
the name of the transmission
Definition: transmission.h:77
virtual bool initXml(TiXmlElement *config, Robot *robot)=0
Initializes the transmission from XML data.
This class provides the controllers with an interface to the robot model.
Definition: robot.h:78


pr2_mechanism_model
Author(s): Eric Berger berger@willowgarage.com, Stuart Glaser, Wim Meeussen
autogenerated on Fri Jun 7 2019 22:04:19