simple_transmission.cpp
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34 /*
35  * Author: Stuart Glaser
36  *
37  * modified by Ugo Cupcic
38  */
39 
41 
42 using ros_ethercat_model::Transmission;
43 using ros_ethercat_model::RobotState;
45 
46 PLUGINLIB_EXPORT_CLASS(sr_mechanism_model::SimpleTransmission, Transmission)
47 
48 namespace sr_mechanism_model
49 {
50 
51  bool SimpleTransmission::initXml(tinyxml2::XMLElement *elt, RobotState *robot)
52  {
53  if (!ros_ethercat_model::Transmission::initXml(elt, robot))
54  {
55  return false;
56  }
57 
58  // reading the joint name
59  tinyxml2::XMLElement *jel = elt->FirstChildElement("joint");
60  if (!jel || !jel->Attribute("name"))
61  {
62  ROS_ERROR_STREAM("Joint name not specified in transmission " << name_);
63  return false;
64  }
65 
66  tinyxml2::XMLElement *ael = elt->FirstChildElement("actuator");
67  if (!ael || !ael->Attribute("name"))
68  {
69  ROS_ERROR_STREAM("Transmission " << name_ << " has no actuator in configuration");
70  return false;
71  }
72 
73  joint_ = robot->getJointState(jel->Attribute("name"));
74  actuator_ = new SrMotorActuator();
75  actuator_->name_ = ael->Attribute("name");
76  actuator_->command_.enable_ = true;
77 
78  return true;
79  }
80 
82  {
83  SrMotorActuator *act = static_cast<SrMotorActuator *>(actuator_);
84  joint_->position_ = act->state_.position_;
85  joint_->velocity_ = act->state_.velocity_;
86  joint_->effort_ = act->state_.last_measured_effort_;
87  }
88 
90  {
91  SrMotorActuator *act = static_cast<SrMotorActuator *>(actuator_);
92  act->command_.enable_ = true;
93  act->command_.effort_ = joint_->commanded_effort_;
94  }
95 
96 } // namespace sr_mechanism_model
97 
98 /* For the emacs weenies in the crowd.
99 Local Variables:
100  c-basic-offset: 2
101 End:
102  */
bool initXml(tinyxml2::XMLElement *config, ros_ethercat_model::RobotState *robot)
#define ROS_ERROR_STREAM(args)


sr_mechanism_model
Author(s): Ugo Cupcic
autogenerated on Mon Feb 28 2022 23:52:12