transmission_interface::MultiActuatorTransmission Class Reference

#include <multi_actuator_transmission.h>

Inheritance diagram for transmission_interface::MultiActuatorTransmission:

Collaboration diagram for transmission_interface::MultiActuatorTransmission:

Public Member Functions
	MultiActuatorTransmission (const TransmissionInfo &transmission_info, std::vector< double > actuator_reduction, double joint_reduction, double joint_offset=0.0)
void	actuatorToJointEffort (const ActuatorData &act_data, JointData &jnt_data) override
void	actuatorToJointVelocity (const ActuatorData &act_data, JointData &jnt_data) override
void	actuatorToJointPosition (const ActuatorData &act_data, JointData &jnt_data) override
void	jointToActuatorEffort (const JointData &jnt_data, ActuatorData &act_data) override
void	jointToActuatorVelocity (const JointData &jnt_data, ActuatorData &act_data) override
void	jointToActuatorPosition (const JointData &jnt_data, ActuatorData &act_data) override
std::size_t	numActuators () const override
std::size_t	numJoints () const override
const std::vector< double > &	getActuatorReduction () const
double	getJointReduction () const
double	getJointOffset () const

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

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 )

Member Function Documentation

actuatorToJointEffort()

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

inlineoverride

actuatorToJointPosition()

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

inlineoverride

actuatorToJointVelocity()

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

inlineoverride

getActuatorReduction()

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

inline

getJointOffset()

double transmission_interface::MultiActuatorTransmission::getJointOffset ( ) const

inline

getJointReduction()

double transmission_interface::MultiActuatorTransmission::getJointReduction ( ) const

inline

jointToActuatorEffort()

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

inlineoverride

jointToActuatorPosition()

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

inlineoverride

jointToActuatorVelocity()

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

inlineoverride

numActuators()

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

inlineoverride

numJoints()

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

inlineoverride

Member Data Documentation

act_number_

int transmission_interface::MultiActuatorTransmission::act_number_ = 0

protected

act_reduction_

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

protected

jnt_offset_

double transmission_interface::MultiActuatorTransmission::jnt_offset_ {}

protected

jnt_reduction_

double transmission_interface::MultiActuatorTransmission::jnt_reduction_ {}

protected

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

• rm_hw/include/rm_hw/transmission/multi_actuator_transmission.h