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>

Inheritance diagram for transmission_interface::MiaMrlTransmission:

[legend]

Collaboration diagram for transmission_interface::MiaMrlTransmission:

[legend]

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...

Detailed Description

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.

Constructor & Destructor Documentation

◆ MiaMrlTransmission()

transmission_interface::MiaMrlTransmission::MiaMrlTransmission ( )

Class constructor.

Definition at line 23 of file mia_mrl_transmission.cpp.

Member Function Documentation

◆ actuatorToJointEffort()

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.

◆ actuatorToJointPosition()

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

Transform position variables from actuator to joint space.

Parameters

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

Definition at line 95 of file mia_mrl_transmission.cpp.

◆ actuatorToJointVelocity()

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

Transform velocity variables from actuator to joint space.

Parameters

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

Definition at line 84 of file mia_mrl_transmission.cpp.

◆ dh()

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

Mrl transmission first step function for velocity: pos = 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 60 of file mia_mrl_transmission.cpp.

◆ dh_inv()

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

Mrl 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 69 of file mia_mrl_transmission.cpp.

◆ getActuatorReduction()

double transmission_interface::MiaMrlTransmission::getActuatorReduction ( ) const

inline

Definition at line 153 of file mia_mrl_transmission.h.

◆ getJointOffset()

double transmission_interface::MiaMrlTransmission::getJointOffset ( ) const

inline

Definition at line 154 of file mia_mrl_transmission.h.

◆ h_mrl()

double transmission_interface::MiaMrlTransmission::h_mrl ( const double pos )

inline

Mrl transmission first step function for pose: mu = mu = h_mrl(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 42 of file mia_mrl_transmission.cpp.

◆ h_mrl_inv()

double transmission_interface::MiaMrlTransmission::h_mrl_inv ( const double mu )

Mrl transmission first step inverse function for pose: pos = h_mrl_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 51 of file mia_mrl_transmission.cpp.

◆ jointToActuatorEffort()

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.

◆ jointToActuatorPosition()

void transmission_interface::MiaMrlTransmission::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 117 of file mia_mrl_transmission.cpp.

◆ jointToActuatorVelocity()

void transmission_interface::MiaMrlTransmission::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 106 of file mia_mrl_transmission.cpp.

Member Data Documentation

◆ jnt_offset_

double transmission_interface::MiaMrlTransmission::jnt_offset_

private

Offset of teh joint.

Definition at line 158 of file mia_mrl_transmission.h.

◆ reduction_

double transmission_interface::MiaMrlTransmission::reduction_

private

Linear second step reduction of the tranmission.

Definition at line 157 of file mia_mrl_transmission.h.

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

mia_hand_ros_control/include/mia_hand_ros_control/mia_mrl_transmission.h
mia_hand_ros_control/src/mia_mrl_transmission.cpp

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ MiaMrlTransmission()

Member Function Documentation

◆ actuatorToJointEffort()

◆ actuatorToJointPosition()

◆ actuatorToJointVelocity()

◆ dh()

◆ dh_inv()

◆ getActuatorReduction()

◆ getJointOffset()

◆ h_mrl()

◆ h_mrl_inv()

◆ jointToActuatorEffort()

◆ jointToActuatorPosition()

◆ jointToActuatorVelocity()

Member Data Documentation

◆ jnt_offset_

◆ reduction_