mia_hand_ros_control
rel 1.0.0
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Class handling for propagating joint velocities to actuator velocities for a given MiaIndexTransmission. More...
#include <mia_transmission_interface.h>
Public Member Functions | |
MiaJointToActuatorVelocityHandle (const std::string &name, transmission_interface::MiaIndexTransmission *transmission, const ActuatorData &actuator_data, const JointData &joint_data, const ActuatorData &actuator_state) | |
Class constructor. More... | |
void | propagate () |
Propagate joint velocity target to the actuator velocity target for stored MiaIndexTransmission instance. More... | |
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std::string | getName () const |
Get the name of the transmission. More... | |
Additional Inherited Members | |
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MiaTransmissionHandle (const std::string &name, transmission_interface::MiaIndexTransmission *transmission, const ActuatorData &actuator_data, const JointData &joint_data, const ActuatorData &actuator_state) | |
Class constructor. More... | |
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std::string | name_ |
ransmission name. More... | |
transmission_interface::MiaIndexTransmission * | transmission_ |
MiaIndexTransmission interface. More... | |
ActuatorData | actuator_data_ |
Actuator-space variables (target or actual state). More... | |
JointData | joint_data_ |
Joint-space variables (target or actual state). More... | |
ActuatorData | actuator_state_ |
Actuator-space state variables. More... | |
Class handling for propagating joint velocities to actuator velocities for a given MiaIndexTransmission.
It inherits from the base class MiaTransmissionHandle.
Definition at line 365 of file mia_transmission_interface.h.
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inline |
Class constructor.
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name | Transmission name. |
transmission | Pointer to the MiaIndexTransmission instance. |
actuator_data | Actuator-space variable storing the target of the actuator. ¸ |
joint_data | Joint-space variables storing the target of the joint. ¸ |
actuator_state | Actuator-space variable storing the actual state of the actuator. |
Definition at line 376 of file mia_transmission_interface.h.
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inline |
Propagate joint velocity target to the actuator velocity target for stored MiaIndexTransmission instance.
Definition at line 386 of file mia_transmission_interface.h.