mia_hand_ros_control
rel 1.0.0
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Implementation of the linear Mia thumb flexion transmission mapping the positions and velocity from the joint sapce to ros actuator-space (i.e. More...
#include <mia_thfle_transmission.h>
Public Member Functions | |
MiaThfleTransmission () | |
Class constructor. More... | |
void | actuatorToJointEffort (const transmission_interface::ActuatorData &act_data, transmission_interface::JointData &jnt_data) |
Do not use this methos since Mia hand has not effort control. More... | |
void | actuatorToJointVelocity (const transmission_interface::ActuatorData &act_data, transmission_interface::JointData &jnt_data) |
Transform velocity variables from actuator to joint space. More... | |
void | actuatorToJointPosition (const transmission_interface::ActuatorData &act_data, transmission_interface::JointData &jnt_data) |
Transform position variables from actuator to joint space. More... | |
void | jointToActuatorEffort (const transmission_interface::JointData &jnt_data, transmission_interface::ActuatorData &act_data) |
Do not use this methos since Mia hand has not effort control. More... | |
void | jointToActuatorVelocity (const transmission_interface::JointData &jnt_data, transmission_interface::ActuatorData &act_data) |
Transform velocity variables from joint to actuator space. More... | |
void | jointToActuatorPosition (const transmission_interface::JointData &jnt_data, transmission_interface::ActuatorData &act_data) |
Transform position variables from joint to actuator space. More... | |
double | h_thfle (const double pos) |
Thumb flexion transmission first step function for pose: mu = mu = h_thfle(pos). More... | |
double | h_thfle_inv (const double mu) |
Thumb flexion transmission first step inverse function for pose: pos = h_thfle_inv(mu). More... | |
double | dh (const double spe) |
Thumb flexion transmission first step function for velocity: omega_m = dh(spe) More... | |
double | dh_inv (const double omega_m) |
Thumb flexion transmission first step inverse function for velocity: spe = dh_inv(omega_m). More... | |
double | getActuatorReduction () const |
double | getJointOffset () const |
Private Attributes | |
double | reduction_ |
Linear second step reduction of the tranmission. More... | |
double | jnt_offset_ |
Offset of teh joint. More... | |
Implementation of the linear Mia thumb flexion transmission mapping the positions and velocity from the joint sapce to ros actuator-space (i.e.
as returned by Mia hand [-255; +255] and [-90;+90]) and vice-versa.
Definition at line 60 of file mia_thfle_transmission.h.
transmission_interface::MiaThfleTransmission::MiaThfleTransmission | ( | ) |
Class constructor.
Definition at line 22 of file mia_thfle_transmission.cpp.
void transmission_interface::MiaThfleTransmission::actuatorToJointEffort | ( | const transmission_interface::ActuatorData & | act_data, |
transmission_interface::JointData & | jnt_data | ||
) |
Do not use this methos since Mia hand has not effort control.
Definition at line 131 of file mia_thfle_transmission.cpp.
void transmission_interface::MiaThfleTransmission::actuatorToJointPosition | ( | const transmission_interface::ActuatorData & | act_data, |
transmission_interface::JointData & | jnt_data | ||
) |
Transform position variables from actuator to joint space.
act_data | thumb_fle actuator actual state. |
jnt_data | returned thumb_fle joint state. |
Definition at line 94 of file mia_thfle_transmission.cpp.
void transmission_interface::MiaThfleTransmission::actuatorToJointVelocity | ( | const transmission_interface::ActuatorData & | act_data, |
transmission_interface::JointData & | jnt_data | ||
) |
Transform velocity variables from actuator to joint space.
act_data | thumb_fle actuator actual state. |
jnt_data | returned thumb_fle joint state. |
Definition at line 83 of file mia_thfle_transmission.cpp.
double transmission_interface::MiaThfleTransmission::dh | ( | const double | spe | ) |
Thumb flexion transmission first step function for velocity: omega_m = dh(spe)
spe | round velocity in the ros actuator-space (i.e. as returned by Mia hand [-90; +90]). |
Definition at line 59 of file mia_thfle_transmission.cpp.
double transmission_interface::MiaThfleTransmission::dh_inv | ( | const double | omega_m | ) |
Thumb flexion transmission first step inverse function for velocity: spe = dh_inv(omega_m).
omega_m | velocity in the mia actuator space. |
Definition at line 68 of file mia_thfle_transmission.cpp.
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inline |
Definition at line 156 of file mia_thfle_transmission.h.
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inline |
Definition at line 157 of file mia_thfle_transmission.h.
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inline |
Thumb flexion transmission first step function for pose: mu = mu = h_thfle(pos).
pos | pose in the ros actuator-space (i.e. as returned by Mia hand [-255; +255]). |
Definition at line 41 of file mia_thfle_transmission.cpp.
double transmission_interface::MiaThfleTransmission::h_thfle_inv | ( | const double | mu | ) |
Thumb flexion transmission first step inverse function for pose: pos = h_thfle_inv(mu).
mu | pose in the mia actuator space. |
Definition at line 50 of file mia_thfle_transmission.cpp.
void transmission_interface::MiaThfleTransmission::jointToActuatorEffort | ( | const transmission_interface::JointData & | jnt_data, |
transmission_interface::ActuatorData & | act_data | ||
) |
Do not use this methos since Mia hand has not effort control.
Definition at line 138 of file mia_thfle_transmission.cpp.
void transmission_interface::MiaThfleTransmission::jointToActuatorPosition | ( | const transmission_interface::JointData & | jnt_data, |
transmission_interface::ActuatorData & | act_data | ||
) |
Transform position variables from joint to actuator space.
jnt_data | mrl joint target. |
act_data | returned mrl actuator target. |
Definition at line 116 of file mia_thfle_transmission.cpp.
void transmission_interface::MiaThfleTransmission::jointToActuatorVelocity | ( | const transmission_interface::JointData & | jnt_data, |
transmission_interface::ActuatorData & | act_data | ||
) |
Transform velocity variables from joint to actuator space.
jnt_data | mrl joint target. |
act_data | returned mrl actuator target. |
Definition at line 105 of file mia_thfle_transmission.cpp.
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private |
Offset of teh joint.
Definition at line 161 of file mia_thfle_transmission.h.
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private |
Linear second step reduction of the tranmission.
Definition at line 160 of file mia_thfle_transmission.h.