mia_hand_ros_control
rel 1.0.0
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Go to the documentation of this file.
12 using transmission_interface::ActuatorData;
13 using transmission_interface::JointData;
31 throw TransmissionInterfaceException(
"Transmission reduction ratio cannot be zero.");
43 double Scale = 11.3895;
45 double mu = Scale * pos + Offset;
52 double Scale = 0.0878;
54 double pos = (double) round( Scale * mu + Offset);
61 double Scale = 65.4167;
63 double omega_m = Scale * spe + Offset;
70 double Scale = 0.015287;
72 double spe = (double) round( Scale * omega_m + Offset);
87 double spe = *act_data.velocity[0];
88 double omega_m =
dh(spe);
91 *jnt_data.velocity[0] = omega_f;
97 double pos = *act_data.position[0];
101 *jnt_data.position[0] = fi;
106 ActuatorData& act_data)
109 double omega_f = *jnt_data.velocity[0];
111 double spe =
dh_inv(omega_m);
113 *act_data.velocity[0] = spe;
117 ActuatorData& act_data)
120 double fi = *jnt_data.position[0];
124 *act_data.position[0] = pos;
135 *jnt_data.effort[0] = *act_data.effort[0] * 1;
139 ActuatorData& act_data)
142 *act_data.effort[0] = *jnt_data.effort[0] / 1;
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).
void actuatorToJointPosition(const transmission_interface::ActuatorData &act_data, transmission_interface::JointData &jnt_data)
Transform position variables from actuator to joint space.
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 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.