transmission_interface::DifferentialTransmission Class Reference

Inheritance diagram for transmission_interface::DifferentialTransmission:

Collaboration diagram for transmission_interface::DifferentialTransmission:

Public Member Functions
	DifferentialTransmission (const std::vector< double > &actuator_reduction, const std::vector< double > &joint_reduction, const std::vector< double > &joint_offset={0.0, 0.0})
void	configure (const std::vector< JointHandle > &joint_handles, const std::vector< ActuatorHandle > &actuator_handles) override
void	actuator_to_joint () override
	Transform variables from actuator to joint space.
void	joint_to_actuator () override
	Transform variables from joint to actuator space.
std::size_t	num_actuators () const override
std::size_t	num_joints () const override
const std::vector< double > &	get_actuator_reduction () const
const std::vector< double > &	get_joint_reduction () const
const std::vector< double > &	get_joint_offset () const
std::string	get_handles_info () const
	Get human-friendly report of handles.

Protected Attributes
std::vector< double >	actuator_reduction_
std::vector< double >	joint_reduction_
std::vector< double >	joint_offset_
std::vector< JointHandle >	joint_position_
std::vector< JointHandle >	joint_velocity_
std::vector< JointHandle >	joint_effort_
std::vector< JointHandle >	joint_torque_
std::vector< JointHandle >	joint_absolute_position_
std::vector< ActuatorHandle >	actuator_position_
std::vector< ActuatorHandle >	actuator_velocity_
std::vector< ActuatorHandle >	actuator_effort_
std::vector< ActuatorHandle >	actuator_torque_
std::vector< ActuatorHandle >	actuator_absolute_position_

Constructor & Destructor Documentation

DifferentialTransmission()

transmission_interface::DifferentialTransmission::DifferentialTransmission ( const std::vector< double > &  actuator_reduction, const std::vector< double > &  joint_reduction, const std::vector< double > &  joint_offset = {0.0, 0.0}  )

inline

Parameters

[in]	actuator_reduction	Reduction ratio of actuators.
[in]	joint_reduction	Reduction ratio of joints.
[in]	joint_offset	Joint position offset used in the position mappings.

Precondition

Nonzero actuator and joint reduction values.

Member Function Documentation

actuator_to_joint()

void transmission_interface::DifferentialTransmission::actuator_to_joint ( )

inlineoverridevirtual

Transform variables from actuator to joint space.

Precondition

Actuator and joint vectors must have size 2 and point to valid data. To call this method it is not required that all other data vectors contain valid data, and can even remain empty.

Implements transmission_interface::Transmission.

configure()

void transmission_interface::DifferentialTransmission::configure ( const std::vector< JointHandle > &  joint_handles, const std::vector< ActuatorHandle > &  actuator_handles  )

overridevirtual

Parameters

[in]	joint_handles	Handles of joint values.
[in]	actuator_handles	Handles of actuator values.

Precondition

Handles are valid and matching in size

Implements transmission_interface::Transmission.

joint_to_actuator()

void transmission_interface::DifferentialTransmission::joint_to_actuator ( )

inlineoverridevirtual

Transform variables from joint to actuator space.

Precondition

Actuator and joint vectors must have size 2 and point to valid data. To call this method it is not required that all other data vectors contain valid data, and can even remain empty.

Implements transmission_interface::Transmission.

num_actuators()

std::size_t transmission_interface::DifferentialTransmission::num_actuators ( ) const

inlineoverridevirtual

Returns

Number of actuators managed by transmission, ie. the dimension of the actuator space.

Implements transmission_interface::Transmission.

num_joints()

std::size_t transmission_interface::DifferentialTransmission::num_joints ( ) const

inlineoverridevirtual

Returns

Number of joints managed by transmission, ie. the dimension of the joint space.

Implements transmission_interface::Transmission.

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

• ros2_control/transmission_interface/include/transmission_interface/differential_transmission.hpp