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[Personalrobots-commit] SF.net SVN: personalrobots:[2197] pkg/trunk
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From: <stu...@us...> - 2008-07-28 22:39:03
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Revision: 2197
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=2197&view=rev
Author: stuglaser
Date: 2008-07-28 22:39:11 +0000 (Mon, 28 Jul 2008)
Log Message:
-----------
Fixed dependencies on transmission and robot model.
Modified Paths:
--------------
pkg/trunk/mechanism/mechanism_control/include/mechanism_control/mechanism_control.h
pkg/trunk/mechanism/mechanism_control/src/base_control.cpp
pkg/trunk/mechanism/mechanism_control/src/gazebo_control.cpp
pkg/trunk/robot_models/robot_mechanism_model/include/mechanism_model/robot.h
pkg/trunk/robot_models/robot_mechanism_model/include/mechanism_model/transmission.h
Modified: pkg/trunk/mechanism/mechanism_control/include/mechanism_control/mechanism_control.h
===================================================================
--- pkg/trunk/mechanism/mechanism_control/include/mechanism_control/mechanism_control.h 2008-07-28 22:18:58 UTC (rev 2196)
+++ pkg/trunk/mechanism/mechanism_control/include/mechanism_control/mechanism_control.h 2008-07-28 22:39:11 UTC (rev 2197)
@@ -31,6 +31,7 @@
#include <map>
#include <string>
#include <vector>
+#include "tinyxml-2.5.3/tinyxml.h"
#include <hw_interface/hardware_interface.h>
#include <mechanism_model/robot.h>
#include <rosthread/mutex.h>
Modified: pkg/trunk/mechanism/mechanism_control/src/base_control.cpp
===================================================================
--- pkg/trunk/mechanism/mechanism_control/src/base_control.cpp 2008-07-28 22:18:58 UTC (rev 2196)
+++ pkg/trunk/mechanism/mechanism_control/src/base_control.cpp 2008-07-28 22:39:11 UTC (rev 2197)
@@ -2,27 +2,27 @@
///////////////////////////////////////////////////////////////////////////////
// Copyright (C) 2008, Willow Garage Inc.
//
-// Redistribution and use in source and binary forms, with or without
+// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
-// * Redistributions of source code must retain the above copyright notice,
+// * Redistributions of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
-// * Redistributions in binary form must reproduce the above copyright
-// notice, this list of conditions and the following disclaimer in the
+// * Redistributions in binary form must reproduce the above copyright
+// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
-// * Neither the name of Willow Garage Inc. nor the names of its
-// contributors may be used to endorse or promote products derived from
+// * Neither the name of Willow Garage Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
// this software without specific prior written permission.
-//
-// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
//////////////////////////////////////////////////////////////////////////////
@@ -33,7 +33,7 @@
#define NUM_JOINTS 12
-const double maxPositiveTorque = 0.75;
+const double maxPositiveTorque = 0.75;
using namespace std;
@@ -51,22 +51,22 @@
}
void BaseControl::initRobot(){
- r = new Robot("robot");
+ r = new Robot("robot");
r->numJoints = NUM_JOINTS;
- r->numTransmissions = NUM_JOINTS;
r->numLinks = NUM_JOINTS;
- r->transmission = new SimpleTransmission[NUM_JOINTS];
r->joint = new Joint[NUM_JOINTS];
r->link = new Link[NUM_JOINTS];
for(int ii=0; ii<NUM_JOINTS; ii++){
- r->transmission[ii].actuator = &(hw->actuator[ii]);
- r->transmission[ii].joint = &(r->joint[ii]);
- r->transmission[ii].mechanicalReduction = 1.0;
- r->transmission[ii].motorTorqueConstant = 1.0;
- r->transmission[ii].pulsesPerRevolution = 90000;
+ SimpleTransmission *tr = new SimpleTransmission;
+ r->transmissions_.push_back(tr);
+ tr->actuator = &(hw->actuator[ii]);
+ tr->joint = &(r->joint[ii]);
+ tr->mechanicalReduction = 1.0;
+ tr->motorTorqueConstant = 1.0;
+ tr->pulsesPerRevolution = 90000;
hw->actuator[ii].command.enable = true;
r->joint[ii].effortLimit = maxPositiveTorque;
}
@@ -86,8 +86,8 @@
//Clear actuator commands
//Process robot model transmissions
- for(int i = 0; i < r->numTransmissions; i++){
- r->transmission[i].propagatePosition();
+ for(int i = 0; i < r->transmissions_.size(); i++){
+ r->transmissions_[i]->propagatePosition();
}
//update KDL model with new joint position/velocities
@@ -101,8 +101,8 @@
r->joint[i].enforceLimits();
}*/
- for(int i = 0; i < r->numTransmissions; i++){
- r->transmission[i].propagateEffort();
+ for(int i = 0; i < r->transmissions_.size(); i++){
+ r->transmissions_[i]->propagateEffort();
}
}
Modified: pkg/trunk/mechanism/mechanism_control/src/gazebo_control.cpp
===================================================================
--- pkg/trunk/mechanism/mechanism_control/src/gazebo_control.cpp 2008-07-28 22:18:58 UTC (rev 2196)
+++ pkg/trunk/mechanism/mechanism_control/src/gazebo_control.cpp 2008-07-28 22:39:11 UTC (rev 2197)
@@ -2,27 +2,27 @@
///////////////////////////////////////////////////////////////////////////////
// Copyright (C) 2008, Willow Garage Inc.
//
-// Redistribution and use in source and binary forms, with or without
+// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
-// * Redistributions of source code must retain the above copyright notice,
+// * Redistributions of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
-// * Redistributions in binary form must reproduce the above copyright
-// notice, this list of conditions and the following disclaimer in the
+// * Redistributions in binary form must reproduce the above copyright
+// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
-// * Neither the name of Willow Garage Inc. nor the names of its
-// contributors may be used to endorse or promote products derived from
+// * Neither the name of Willow Garage Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
// this software without specific prior written permission.
-//
-// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
//////////////////////////////////////////////////////////////////////////////
@@ -55,24 +55,24 @@
}
void GazeboMechanismControl::initRobot(){
- r = new Robot("robot");
+ r = new Robot((char*)"robot");
r->numJoints = PR2::MAX_JOINTS;
- r->numTransmissions = PR2::MAX_JOINTS;
r->numLinks = PR2::MAX_JOINTS;
- r->transmission = new SimpleTransmission[PR2::MAX_JOINTS];
r->joint = new Joint[PR2::MAX_JOINTS];
r->link = new Link[PR2::MAX_JOINTS];
// MAPPING BETWEEN hwInterface->actuators and robot->joints
// assign transmissions for all joints
for(int ii=0; ii<PR2::MAX_JOINTS; ii++){
- r->transmission[ii].actuator = &(hardwareInterface->actuator[ii]);
- r->transmission[ii].joint = &(r->joint[ii]);
- r->transmission[ii].mechanicalReduction = 1.0;
- r->transmission[ii].motorTorqueConstant = 1.0;
- r->transmission[ii].pulsesPerRevolution = 1.0;
+ SimpleTransmission *tr = new SimpleTransmission;
+ r->transmissions_.push_back(tr);
+ tr->actuator = &(hardwareInterface->actuator[ii]);
+ tr->joint = &(r->joint[ii]);
+ tr->mechanicalReduction = 1.0;
+ tr->motorTorqueConstant = 1.0;
+ tr->pulsesPerRevolution = 1.0;
r->joint[ii].effortLimit = maxPositiveTorque;
}
// enable all actuators, just so happens num. joints == num. actuators for now
@@ -85,44 +85,44 @@
// assuming that: robot joint array == hardware interface actuator array
// hard coded mapping between jointcontroller array and robot joint array
- int baseMapToRobotJointIndex[] = {
+ int baseMapToRobotJointIndex[] = {
PR2::CASTER_FL_STEER , PR2::CASTER_FL_DRIVE_L , PR2::CASTER_FL_DRIVE_R ,
PR2::CASTER_FR_STEER , PR2::CASTER_FR_DRIVE_L , PR2::CASTER_FR_DRIVE_R ,
PR2::CASTER_RL_STEER , PR2::CASTER_RL_DRIVE_L , PR2::CASTER_RL_DRIVE_R ,
PR2::CASTER_RR_STEER , PR2::CASTER_RR_DRIVE_L , PR2::CASTER_RR_DRIVE_R };
- int leftArmMapToRobotJointIndex[] = {
+ int leftArmMapToRobotJointIndex[] = {
PR2::ARM_L_PAN , PR2::ARM_L_SHOULDER_PITCH, PR2::ARM_L_SHOULDER_ROLL ,
PR2::ARM_L_ELBOW_PITCH , PR2::ARM_L_ELBOW_ROLL , PR2::ARM_L_WRIST_PITCH ,
PR2::ARM_L_WRIST_ROLL };
- int rightArmMapToRobotJointIndex[] = {
+ int rightArmMapToRobotJointIndex[] = {
PR2::ARM_R_PAN , PR2::ARM_R_SHOULDER_PITCH, PR2::ARM_R_SHOULDER_ROLL ,
PR2::ARM_R_ELBOW_PITCH , PR2::ARM_R_ELBOW_ROLL , PR2::ARM_R_WRIST_PITCH ,
PR2::ARM_R_WRIST_ROLL };
- int headMapToRobotJointIndex[] = {
+ int headMapToRobotJointIndex[] = {
PR2::HEAD_YAW , PR2::HEAD_PITCH };
- int laserScannerMapToRobotJointIndex[] = {
+ int laserScannerMapToRobotJointIndex[] = {
PR2::HEAD_LASER_PITCH };
- int spineMapToRobotJointIndex[] = {
+ int spineMapToRobotJointIndex[] = {
PR2::SPINE_ELEVATOR };
// hard coded mapping between jointcontroller array and hardware interface actuator array
- int baseMapToHIActuatorIndex[] = {
+ int baseMapToHIActuatorIndex[] = {
PR2::CASTER_FL_STEER , PR2::CASTER_FL_DRIVE_L , PR2::CASTER_FL_DRIVE_R ,
PR2::CASTER_FR_STEER , PR2::CASTER_FR_DRIVE_L , PR2::CASTER_FR_DRIVE_R ,
PR2::CASTER_RL_STEER , PR2::CASTER_RL_DRIVE_L , PR2::CASTER_RL_DRIVE_R ,
PR2::CASTER_RR_STEER , PR2::CASTER_RR_DRIVE_L , PR2::CASTER_RR_DRIVE_R };
- int leftArmMapToHIActuatorIndex[] = {
+ int leftArmMapToHIActuatorIndex[] = {
PR2::ARM_L_PAN , PR2::ARM_L_SHOULDER_PITCH, PR2::ARM_L_SHOULDER_ROLL ,
PR2::ARM_L_ELBOW_PITCH , PR2::ARM_L_ELBOW_ROLL , PR2::ARM_L_WRIST_PITCH ,
PR2::ARM_L_WRIST_ROLL };
- int rightArmMapToHIActuatorIndex[] = {
+ int rightArmMapToHIActuatorIndex[] = {
PR2::ARM_R_PAN , PR2::ARM_R_SHOULDER_PITCH, PR2::ARM_R_SHOULDER_ROLL ,
PR2::ARM_R_ELBOW_PITCH , PR2::ARM_R_ELBOW_ROLL , PR2::ARM_R_WRIST_PITCH ,
PR2::ARM_R_WRIST_ROLL };
- int headMapToHIActuatorIndex[] = {
+ int headMapToHIActuatorIndex[] = {
PR2::HEAD_YAW , PR2::HEAD_PITCH };
- int laserScannerMapToHIActuatorIndex[] = {
+ int laserScannerMapToHIActuatorIndex[] = {
PR2::HEAD_LASER_PITCH };
- int spineMapToHIActuatorIndex[] = {
+ int spineMapToHIActuatorIndex[] = {
PR2::SPINE_ELEVATOR };
int leftArmNumJoints = 7;
@@ -165,8 +165,8 @@
//Clear actuator commands
//Process robot model transmissions
- for(int i = 0; i < r->numTransmissions; i++){
- r->transmission[i].propagatePosition();
+ for(int i = 0; i < r->transmissions_.size(); i++){
+ r->transmissions_[i]->propagatePosition();
}
//update KDL model with new joint position/velocities
@@ -183,8 +183,8 @@
r->joint[i].enforceLimits();
}*/
- for(int i = 0; i < r->numTransmissions; i++){
- r->transmission[i].propagateEffort();
+ for(int i = 0; i < r->transmissions_.size(); i++){
+ r->transmissions_[i]->propagateEffort();
}
}
Modified: pkg/trunk/robot_models/robot_mechanism_model/include/mechanism_model/robot.h
===================================================================
--- pkg/trunk/robot_models/robot_mechanism_model/include/mechanism_model/robot.h 2008-07-28 22:18:58 UTC (rev 2196)
+++ pkg/trunk/robot_models/robot_mechanism_model/include/mechanism_model/robot.h 2008-07-28 22:39:11 UTC (rev 2197)
@@ -52,7 +52,7 @@
Joint *joint;
int numJoints;
- vector<Transmission*> transmissions_;
+ std::vector<Transmission*> transmissions_;
};
}
Modified: pkg/trunk/robot_models/robot_mechanism_model/include/mechanism_model/transmission.h
===================================================================
--- pkg/trunk/robot_models/robot_mechanism_model/include/mechanism_model/transmission.h 2008-07-28 22:18:58 UTC (rev 2196)
+++ pkg/trunk/robot_models/robot_mechanism_model/include/mechanism_model/transmission.h 2008-07-28 22:39:11 UTC (rev 2197)
@@ -48,7 +48,7 @@
};
-class SimpleTransmission : Transmission
+class SimpleTransmission : public Transmission
{
public:
SimpleTransmission() {}
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