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>

Inheritance diagram for transmission_interface::MiaThfleTransmission:

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Collaboration diagram for transmission_interface::MiaThfleTransmission:

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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...

Detailed Description

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.

Constructor & Destructor Documentation

◆ MiaThfleTransmission()

transmission_interface::MiaThfleTransmission::MiaThfleTransmission ( )

Class constructor.

Definition at line 22 of file mia_thfle_transmission.cpp.

Member Function Documentation

◆ actuatorToJointEffort()

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.

◆ actuatorToJointPosition()

void transmission_interface::MiaThfleTransmission::actuatorToJointPosition	(	const transmission_interface::ActuatorData &	act_data,
		transmission_interface::JointData &	jnt_data
	)

Transform position variables from actuator to joint space.

Parameters

act_data	thumb_fle actuator actual state.
jnt_data	returned thumb_fle joint state.

Definition at line 94 of file mia_thfle_transmission.cpp.

◆ actuatorToJointVelocity()

void transmission_interface::MiaThfleTransmission::actuatorToJointVelocity	(	const transmission_interface::ActuatorData &	act_data,
		transmission_interface::JointData &	jnt_data
	)

Transform velocity variables from actuator to joint space.

Parameters

act_data	thumb_fle actuator actual state.
jnt_data	returned thumb_fle joint state.

Definition at line 83 of file mia_thfle_transmission.cpp.

◆ dh()

double transmission_interface::MiaThfleTransmission::dh ( const double spe )

Thumb flexion transmission first step function for velocity: omega_m = dh(spe)

Parameters

spe	round velocity in the ros actuator-space (i.e. as returned by Mia hand [-90; +90]).

Returns: omega_m velocity in the mia actuator space.

Definition at line 59 of file mia_thfle_transmission.cpp.

◆ dh_inv()

double transmission_interface::MiaThfleTransmission::dh_inv ( const double omega_m )

Thumb flexion transmission first step inverse function for velocity: spe = dh_inv(omega_m).

Parameters

omega_m velocity in the mia actuator space.

Returns: spe: round velocity in the ros actuator-space (i.e. as returned by Mia hand [-90; +90]).

Definition at line 68 of file mia_thfle_transmission.cpp.

◆ getActuatorReduction()

double transmission_interface::MiaThfleTransmission::getActuatorReduction ( ) const

inline

Definition at line 156 of file mia_thfle_transmission.h.

◆ getJointOffset()

double transmission_interface::MiaThfleTransmission::getJointOffset ( ) const

inline

Definition at line 157 of file mia_thfle_transmission.h.

◆ h_thfle()

double transmission_interface::MiaThfleTransmission::h_thfle ( const double pos )

inline

Thumb flexion transmission first step function for pose: mu = mu = h_thfle(pos).

Parameters

pos	pose in the ros actuator-space (i.e. as returned by Mia hand [-255; +255]).

Returns: mu: pose in the mia actuator space.

Definition at line 41 of file mia_thfle_transmission.cpp.

◆ h_thfle_inv()

double transmission_interface::MiaThfleTransmission::h_thfle_inv ( const double mu )

Thumb flexion transmission first step inverse function for pose: pos = h_thfle_inv(mu).

Parameters

mu	pose in the mia actuator space.

Returns: pos: round pose in the ros actuator-space (i.e. as returned by Mia hand [-255; +255]).

Definition at line 50 of file mia_thfle_transmission.cpp.

◆ jointToActuatorEffort()

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.

◆ jointToActuatorPosition()

void transmission_interface::MiaThfleTransmission::jointToActuatorPosition	(	const transmission_interface::JointData &	jnt_data,
		transmission_interface::ActuatorData &	act_data
	)

Transform position variables from joint to actuator space.

Parameters

jnt_data	mrl joint target.
act_data	returned mrl actuator target.

Definition at line 116 of file mia_thfle_transmission.cpp.

◆ jointToActuatorVelocity()

void transmission_interface::MiaThfleTransmission::jointToActuatorVelocity	(	const transmission_interface::JointData &	jnt_data,
		transmission_interface::ActuatorData &	act_data
	)

Transform velocity variables from joint to actuator space.

Parameters

jnt_data	mrl joint target.
act_data	returned mrl actuator target.

Definition at line 105 of file mia_thfle_transmission.cpp.

Member Data Documentation

◆ jnt_offset_

double transmission_interface::MiaThfleTransmission::jnt_offset_

private

Offset of teh joint.

Definition at line 161 of file mia_thfle_transmission.h.

◆ reduction_

double transmission_interface::MiaThfleTransmission::reduction_

private

Linear second step reduction of the tranmission.

Definition at line 160 of file mia_thfle_transmission.h.

The documentation for this class was generated from the following files:

mia_hand_ros_control/include/mia_hand_ros_control/mia_thfle_transmission.h
mia_hand_ros_control/src/mia_thfle_transmission.cpp

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ MiaThfleTransmission()

Member Function Documentation

◆ actuatorToJointEffort()

◆ actuatorToJointPosition()

◆ actuatorToJointVelocity()

◆ dh()

◆ dh_inv()

◆ getActuatorReduction()

◆ getJointOffset()

◆ h_thfle()

◆ h_thfle_inv()

◆ jointToActuatorEffort()

◆ jointToActuatorPosition()

◆ jointToActuatorVelocity()

Member Data Documentation

◆ jnt_offset_

◆ reduction_