mia_hand_ros_control
rel 1.0.0
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36 #ifndef TRANSMISSION_INTERFACE_MIA_THFLE_TRANSMISSION_H
37 #define TRANSMISSION_INTERFACE_MIA_THFLE_TRANSMISSION_H
43 #include <transmission_interface/transmission.h>
44 #include <transmission_interface/transmission_interface_exception.h>
54 class MiaThfleTransmission :
public Transmission
68 transmission_interface::JointData& jnt_data);
76 transmission_interface::JointData& jnt_data);
84 transmission_interface::JointData& jnt_data);
90 transmission_interface::ActuatorData& act_data);
98 transmission_interface::ActuatorData& act_data);
106 transmission_interface::ActuatorData& act_data);
115 double h_thfle(
const double pos);
129 double dh(
const double spe);
137 double dh_inv(
const double omega_m);
140 std::size_t numActuators()
const {
return 1;}
141 std::size_t numJoints()
const {
return 1;}
155 #endif // MIA_THFLE_TRANSMISSION_H
void jointToActuatorVelocity(const transmission_interface::JointData &jnt_data, transmission_interface::ActuatorData &act_data)
Transform velocity variables from joint to actuator space.
double dh_inv(const double omega_m)
Thumb flexion transmission first step inverse function for velocity: spe = dh_inv(omega_m).
void actuatorToJointVelocity(const transmission_interface::ActuatorData &act_data, transmission_interface::JointData &jnt_data)
Transform velocity variables from actuator to joint space.
double h_thfle_inv(const double mu)
Thumb flexion transmission first step inverse function for pose: pos = h_thfle_inv(mu).
double getJointOffset() const
void actuatorToJointPosition(const transmission_interface::ActuatorData &act_data, transmission_interface::JointData &jnt_data)
Transform position variables from actuator to joint space.
double jnt_offset_
Offset of teh joint.
double h_thfle(const double pos)
Thumb flexion transmission first step function for pose: mu = mu = h_thfle(pos).
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.
void jointToActuatorPosition(const transmission_interface::JointData &jnt_data, transmission_interface::ActuatorData &act_data)
Transform position variables from joint to actuator space.
double reduction_
Linear second step reduction of the tranmission.
double getActuatorReduction() const
double dh(const double spe)
Thumb flexion transmission first step function for velocity: omega_m = dh(spe)
MiaThfleTransmission()
Class constructor.
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.