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transmission_interface

Adolfo Rodriguez Tsouroukdissian edited this page Jun 20, 2013 · 2 revisions

Setting up a transmission interface

The first example is minimal, and shows how to propagate the position of a single actuator to joint space through a reducer.

#include <transmission_interface/simple_transmission.h>
#include <transmission_interface/transmission_interface.h>

int main(int argc, char** argv)
{
  using namespace transmission_interface;

  // Raw data
  double a_pos;
  double j_pos;

  // Transmission
  SimpleTransmission trans(10.0); // 10x reducer

  // Wrap raw data
  ActuatorData a_data;
  a_data.position.push_back(&a_pos);

  JointData j_data;
  j_data.position.push_back(&j_pos);

  // Transmission interface
  ActuatorToJointPositionInterface act_to_jnt_pos;
  act_to_jnt_pos.registerHandle(ActuatorToJointPositionHandle("trans", &trans, a_data, j_data));

  // Propagate actuator position to joint space
  act_to_jnt_pos.propagate();
}

The second example is a bit more complicated, and represents a robot with three actuators and three joints:

  • The first actuator/joint are coupled through a reducer.
  • The last two actuators/joints are coupled through a differential.

The hardware is such that one can read current actuator position, velocity and effort, and send position commands.

#include <vector>

#include <transmission_interface/simple_transmission.h>
#include <transmission_interface/differential_transmission.h>
#include <transmission_interface/transmission_interface.h>

using std::vector;
using namespace transmission_interface;

class MyRobot
{
public:
  MyRobot()
   : sim_trans(-10.0,  // 10x reducer. Negative sign: actuator and joint spin in opposite directions
                 1.0), // joint position offset

     dif_trans(vector<double>(2, 5.0), // 5x reducer on each actuator
               vector<double>(2, 1.0)) // No reducer in joint output
  {
    // Wrapping the raw data is the most verbose part of the setup process... //////////////////////////////////////////

    // Wrap simple transmission raw data - current state
    a_state_data[0].position.push_back(&a_curr_pos[0]);
    a_state_data[0].velocity.push_back(&a_curr_vel[0]);
    a_state_data[0].effort.push_back(&a_curr_eff[0]);

    j_state_data[0].position.push_back(&j_curr_pos[0]);
    j_state_data[0].velocity.push_back(&j_curr_vel[0]);
    j_state_data[0].effort.push_back(&j_curr_eff[0]);

    // Wrap simple transmission raw data - position command
    a_cmd_data[0].position.push_back(&a_cmd_pos[0]); // Velocity and effort vectors are unused

    j_cmd_data[0].position.push_back(&j_cmd_pos[0]); // Velocity and effort vectors are unused

    // Wrap differential transmission raw data - current state
    a_state_data[1].position.push_back(&a_curr_pos[1]); a_state_data[1].position.push_back(&a_curr_pos[2]);
    a_state_data[1].velocity.push_back(&a_curr_vel[1]); a_state_data[1].velocity.push_back(&a_curr_vel[2]);
    a_state_data[1].effort.push_back(&a_curr_eff[1]);   a_state_data[1].effort.push_back(&a_curr_eff[2]);

    j_state_data[1].position.push_back(&j_curr_pos[1]); j_state_data[1].position.push_back(&j_curr_pos[2]);
    j_state_data[1].velocity.push_back(&j_curr_vel[1]); j_state_data[1].velocity.push_back(&j_curr_vel[2]);
    j_state_data[1].effort.push_back(&j_curr_eff[1]);   j_state_data[1].effort.push_back(&j_curr_eff[2]);

    // Wrap differential transmission raw data - position command
    a_cmd_data[1].position.push_back(&a_cmd_pos[1]); a_cmd_data[1].position.push_back(&a_cmd_pos[2]);

    j_cmd_data[1].position.push_back(&j_cmd_pos[1]); j_cmd_data[1].position.push_back(&j_cmd_pos[2]);

    // ...once the raw data has been wrapped, the rest is straightforward //////////////////////////////////////////////

    // Register transmissions to each interface
    act_to_jnt_state.registerHandle(ActuatorToJointStateHandle("sim_trans",
                                                               &sim_trans,
                                                               a_state_data[0],
                                                               j_state_data[0]));

    act_to_jnt_state.registerHandle(ActuatorToJointStateHandle("dif_trans",
                                                              &dif_trans,
                                                              a_state_data[1],
                                                              j_state_data[1]));

    jnt_to_act_pos.registerHandle(JointToActuatorPositionHandle("sim_trans",
                                                                &sim_trans,
                                                                a_cmd_data[0],
                                                                j_cmd_data[0]));

    jnt_to_act_pos.registerHandle(JointToActuatorPositionHandle("dif_trans",
                                                                &dif_trans,
                                                                a_cmd_data[1],
                                                                j_cmd_data[1]));

    // Names must be unique within a single transmission interface, but a same name can be used in
    // multiple interfaces, as shown above
  }

  void read()
  {
    // Read actuator state from hardware
    // ...

    // Propagate current actuator state to joints
    act_to_jnt_state.propagate();
  }

  void write()
  {
    // Porpagate joint commands to actuators
    jnt_to_act_pos.propagate();

    // Send actuator command to hardware
    // ...
  }

private:

  // Transmission interfaces
  ActuatorToJointStateInterface    act_to_jnt_state; // For propagating current actuator state to joint space
  JointToActuatorPositionInterface jnt_to_act_pos;   // For propagating joint position commands to actuator space

  // Transmissions
  SimpleTransmission       sim_trans;
  DifferentialTransmission dif_trans;

  // Actuator and joint space variables: wrappers around raw data
  ActuatorData a_state_data[2]; // Size 2: One per transmission
  ActuatorData a_cmd_data[2];

  JointData j_state_data[2];
  JointData j_cmd_data[2];

  // Actuator and joint space variables - raw data:
  // The first actuator/joint are coupled through a reducer.
  // The last two actuators/joints are coupled through a differential.
  double a_curr_pos[3]; // Size 3: One per actuator
  double a_curr_vel[3];
  double a_curr_eff[3];
  double a_cmd_pos[3];

  double j_curr_pos[3]; // Size 3: One per joint
  double j_curr_vel[3];
  double j_curr_eff[3];
  double j_cmd_pos[3];
};
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