mia_hand_ros_control
rel 1.0.0
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Implementation of the linear Mia mrl Transmission mapping the positions and velocity from the joint sapce to ros actuator-space (i.e. More...
#include <mia_mrl_transmission.h>
Public Member Functions | |
MiaMrlTransmission () | |
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_mrl (const double pos) |
Mrl transmission first step function for pose: mu = mu = h_mrl(pos). More... | |
double | h_mrl_inv (const double mu) |
Mrl transmission first step inverse function for pose: pos = h_mrl_inv(mu). More... | |
double | dh (const double spe) |
Mrl transmission first step function for velocity: pos = omega_m = dh(spe). More... | |
double | dh_inv (const double omega_m) |
Mrl 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 mrl 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_mrl_transmission.h.
transmission_interface::MiaMrlTransmission::MiaMrlTransmission | ( | ) |
Class constructor.
Definition at line 23 of file mia_mrl_transmission.cpp.
void transmission_interface::MiaMrlTransmission::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 132 of file mia_mrl_transmission.cpp.
void transmission_interface::MiaMrlTransmission::actuatorToJointPosition | ( | const transmission_interface::ActuatorData & | act_data, |
transmission_interface::JointData & | jnt_data | ||
) |
Transform position variables from actuator to joint space.
act_data | mrl actuator actual state. |
jnt_data | returned mrl joint state. |
Definition at line 95 of file mia_mrl_transmission.cpp.
void transmission_interface::MiaMrlTransmission::actuatorToJointVelocity | ( | const transmission_interface::ActuatorData & | act_data, |
transmission_interface::JointData & | jnt_data | ||
) |
Transform velocity variables from actuator to joint space.
act_data | mrl actuator actual state. |
jnt_data | returned mrl joint state. |
Definition at line 84 of file mia_mrl_transmission.cpp.
double transmission_interface::MiaMrlTransmission::dh | ( | const double | spe | ) |
Mrl transmission first step function for velocity: pos = omega_m = dh(spe).
spe | round velocity in the ros actuator-space (i.e. as returned by Mia hand [-90; +90]). |
Definition at line 60 of file mia_mrl_transmission.cpp.
double transmission_interface::MiaMrlTransmission::dh_inv | ( | const double | omega_m | ) |
Mrl transmission first step inverse function for velocity: spe = dh_inv(omega_m).
omega_m | velocity in the mia actuator space. |
Definition at line 69 of file mia_mrl_transmission.cpp.
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inline |
Definition at line 153 of file mia_mrl_transmission.h.
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inline |
Definition at line 154 of file mia_mrl_transmission.h.
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inline |
Mrl transmission first step function for pose: mu = mu = h_mrl(pos).
pos | pose in the ros actuator-space (i.e. as returned by Mia hand [-255; +255]). |
Definition at line 42 of file mia_mrl_transmission.cpp.
double transmission_interface::MiaMrlTransmission::h_mrl_inv | ( | const double | mu | ) |
Mrl transmission first step inverse function for pose: pos = h_mrl_inv(mu).
mu | pose in the mia actuator space. |
Definition at line 51 of file mia_mrl_transmission.cpp.
void transmission_interface::MiaMrlTransmission::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 139 of file mia_mrl_transmission.cpp.
void transmission_interface::MiaMrlTransmission::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 117 of file mia_mrl_transmission.cpp.
void transmission_interface::MiaMrlTransmission::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 106 of file mia_mrl_transmission.cpp.
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private |
Offset of teh joint.
Definition at line 158 of file mia_mrl_transmission.h.
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private |
Linear second step reduction of the tranmission.
Definition at line 157 of file mia_mrl_transmission.h.