Public Member Functions | Protected Attributes | List of all members
transmission_interface::MultiActuatorTransmission Class Reference

#include <multi_actuator_transmission.h>

Inheritance diagram for transmission_interface::MultiActuatorTransmission:
Inheritance graph
[legend]

Public Member Functions

void actuatorToJointEffort (const ActuatorData &act_data, JointData &jnt_data) override
 
void actuatorToJointPosition (const ActuatorData &act_data, JointData &jnt_data) override
 
void actuatorToJointVelocity (const ActuatorData &act_data, JointData &jnt_data) override
 
const std::vector< double > & getActuatorReduction () const
 
double getJointOffset () const
 
double getJointReduction () const
 
void jointToActuatorEffort (const JointData &jnt_data, ActuatorData &act_data) override
 
void jointToActuatorPosition (const JointData &jnt_data, ActuatorData &act_data) override
 
void jointToActuatorVelocity (const JointData &jnt_data, ActuatorData &act_data) override
 
 MultiActuatorTransmission (const TransmissionInfo &transmission_info, std::vector< double > actuator_reduction, double joint_reduction, double joint_offset=0.0)
 
std::size_t numActuators () const override
 
std::size_t numJoints () const override
 
- Public Member Functions inherited from transmission_interface::Transmission
virtual void actuatorToJointAbsolutePosition (const ActuatorData &, JointData &)
 
virtual void actuatorToJointTorqueSensor (const ActuatorData &, JointData &)
 
virtual bool hasActuatorToJointAbsolutePosition () const
 
virtual bool hasActuatorToJointTorqueSensor () const
 
virtual ~Transmission ()=default
 

Protected Attributes

int act_number_ = 0
 
std::vector< double > act_reduction_
 
double jnt_offset_ {}
 
double jnt_reduction_ {}
 

Detailed Description

Definition at line 16 of file multi_actuator_transmission.h.

Constructor & Destructor Documentation

◆ MultiActuatorTransmission()

transmission_interface::MultiActuatorTransmission::MultiActuatorTransmission ( const TransmissionInfo &  transmission_info,
std::vector< double >  actuator_reduction,
double  joint_reduction,
double  joint_offset = 0.0 
)

Definition at line 58 of file multi_actuator_transmission.h.

Member Function Documentation

◆ actuatorToJointEffort()

void transmission_interface::MultiActuatorTransmission::actuatorToJointEffort ( const ActuatorData &  act_data,
JointData &  jnt_data 
)
inlineoverridevirtual

Implements transmission_interface::Transmission.

Definition at line 72 of file multi_actuator_transmission.h.

◆ actuatorToJointPosition()

void transmission_interface::MultiActuatorTransmission::actuatorToJointPosition ( const ActuatorData &  act_data,
JointData &  jnt_data 
)
inlineoverridevirtual

Implements transmission_interface::Transmission.

Definition at line 95 of file multi_actuator_transmission.h.

◆ actuatorToJointVelocity()

void transmission_interface::MultiActuatorTransmission::actuatorToJointVelocity ( const ActuatorData &  act_data,
JointData &  jnt_data 
)
inlineoverridevirtual

Implements transmission_interface::Transmission.

Definition at line 83 of file multi_actuator_transmission.h.

◆ getActuatorReduction()

const std::vector<double>& transmission_interface::MultiActuatorTransmission::getActuatorReduction ( ) const
inline

Definition at line 38 of file multi_actuator_transmission.h.

◆ getJointOffset()

double transmission_interface::MultiActuatorTransmission::getJointOffset ( ) const
inline

Definition at line 46 of file multi_actuator_transmission.h.

◆ getJointReduction()

double transmission_interface::MultiActuatorTransmission::getJointReduction ( ) const
inline

Definition at line 42 of file multi_actuator_transmission.h.

◆ jointToActuatorEffort()

void transmission_interface::MultiActuatorTransmission::jointToActuatorEffort ( const JointData &  jnt_data,
ActuatorData &  act_data 
)
inlineoverridevirtual

Implements transmission_interface::Transmission.

Definition at line 102 of file multi_actuator_transmission.h.

◆ jointToActuatorPosition()

void transmission_interface::MultiActuatorTransmission::jointToActuatorPosition ( const JointData &  jnt_data,
ActuatorData &  act_data 
)
inlineoverridevirtual

Implements transmission_interface::Transmission.

Definition at line 27 of file multi_actuator_transmission.h.

◆ jointToActuatorVelocity()

void transmission_interface::MultiActuatorTransmission::jointToActuatorVelocity ( const JointData &  jnt_data,
ActuatorData &  act_data 
)
inlineoverridevirtual

Implements transmission_interface::Transmission.

Definition at line 26 of file multi_actuator_transmission.h.

◆ numActuators()

std::size_t transmission_interface::MultiActuatorTransmission::numActuators ( ) const
inlineoverridevirtual

Implements transmission_interface::Transmission.

Definition at line 29 of file multi_actuator_transmission.h.

◆ numJoints()

std::size_t transmission_interface::MultiActuatorTransmission::numJoints ( ) const
inlineoverridevirtual

Implements transmission_interface::Transmission.

Definition at line 33 of file multi_actuator_transmission.h.

Member Data Documentation

◆ act_number_

int transmission_interface::MultiActuatorTransmission::act_number_ = 0
protected

Definition at line 55 of file multi_actuator_transmission.h.

◆ act_reduction_

std::vector<double> transmission_interface::MultiActuatorTransmission::act_reduction_
protected

Definition at line 52 of file multi_actuator_transmission.h.

◆ jnt_offset_

double transmission_interface::MultiActuatorTransmission::jnt_offset_ {}
protected

Definition at line 54 of file multi_actuator_transmission.h.

◆ jnt_reduction_

double transmission_interface::MultiActuatorTransmission::jnt_reduction_ {}
protected

Definition at line 53 of file multi_actuator_transmission.h.

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

rm_hw
Author(s): Qiayuan Liao
autogenerated on Tue May 6 2025 02:23:44