Part2 of WIP jointToActuatorX(GeneralType, GeneralType)

Author: bmagyar

transmission_interface/include/transmission_interface/differential_transmission.h

@@ -143,7 +143,7 @@ class DifferentialTransmission : public Transmission
      *  To call this method it is not required that all other data vectors contain valid data, and can even remain
      * empty.
      */
-    void actuatorToJointVelocity(const VelocityActuatorData& act_data, JointData& jnt_data);
+    void actuatorToJoint(const VelocityActuatorData& act_data, JointData& jnt_data);
 
     /**
      * \brief Transform \e position variables from actuator to joint space.
@@ -153,7 +153,7 @@ class DifferentialTransmission : public Transmission
      *  To call this method it is not required that all other data vectors contain valid data, and can even remain
      * empty.
      */
-    void actuatorToJointPosition(const PositionActuatorData& act_data, JointData& jnt_data);
+    void actuatorToJoint(const PositionActuatorData& act_data, JointData& jnt_data);
 
     /**
      * \brief Transform \e effort variables from joint to actuator space.
@@ -163,7 +163,7 @@ class DifferentialTransmission : public Transmission
      *  To call this method it is not required that all other data vectors contain valid data, and can even remain
      * empty.
      */
-    void jointToActuatorEffort(const JointData& jnt_data, EffortActuatorData& act_data);
+    void jointToActuator(const EffortJointData& jnt_data, EffortActuatorData& act_data);
 
     /**
      * \brief Transform \e velocity variables from joint to actuator space.
@@ -173,7 +173,7 @@ class DifferentialTransmission : public Transmission
      *  To call this method it is not required that all other data vectors contain valid data, and can even remain
      * empty.
      */
-    void jointToActuatorVelocity(const JointData& jnt_data, VelocityActuatorData& act_data);
+    void jointToActuator(const VelocityJointData& jnt_data, VelocityActuatorData& act_data);
 
     /**
      * \brief Transform \e position variables from joint to actuator space.
@@ -183,7 +183,7 @@ class DifferentialTransmission : public Transmission
      *  To call this method it is not required that all other data vectors contain valid data, and can even remain
      * empty.
      */
-    void jointToActuatorPosition(const JointData& jnt_data, PositionActuatorData& act_data);
+    void jointToActuator(const PositionJointData& jnt_data, PositionActuatorData& act_data);
 
     std::size_t numActuators() const
     {
@@ -243,7 +243,7 @@ inline void DifferentialTransmission::actuatorToJoint(const EffortActuatorData&
     *jnt_data.effort[1] = jr[1] * (*act_data.effort[0] * ar[0] - *act_data.effort[1] * ar[1]);
 }
 
-inline void DifferentialTransmission::actuatorToJointVelocity(const VelocityActuatorData& act_data, JointData& jnt_data)
+inline void DifferentialTransmission::actuatorToJoint(const VelocityActuatorData& act_data, JointData& jnt_data)
 {
     assert(numActuators() == act_data.velocity.size() && numJoints() == jnt_data.velocity.size());
     assert(act_data.velocity[0] && act_data.velocity[1] && jnt_data.velocity[0] && jnt_data.velocity[1]);
@@ -255,7 +255,7 @@ inline void DifferentialTransmission::actuatorToJointVelocity(const VelocityActu
     *jnt_data.velocity[1] = (*act_data.velocity[0] / ar[0] - *act_data.velocity[1] / ar[1]) / (2.0 * jr[1]);
 }
 
-inline void DifferentialTransmission::actuatorToJointPosition(const PositionActuatorData& act_data, JointData& jnt_data)
+inline void DifferentialTransmission::actuatorToJoint(const PositionActuatorData& act_data, JointData& jnt_data)
 {
     assert(numActuators() == act_data.position.size() && numJoints() == jnt_data.position.size());
     assert(act_data.position[0] && act_data.position[1] && jnt_data.position[0] && jnt_data.position[1]);
@@ -269,7 +269,7 @@ inline void DifferentialTransmission::actuatorToJointPosition(const PositionActu
         (*act_data.position[0] / ar[0] - *act_data.position[1] / ar[1]) / (2.0 * jr[1]) + jnt_offset_[1];
 }
 
-inline void DifferentialTransmission::jointToActuatorEffort(const JointData& jnt_data, EffortActuatorData& act_data)
+inline void DifferentialTransmission::jointToActuator(const EffortJointData& jnt_data, EffortActuatorData& act_data)
 {
     assert(numActuators() == act_data.effort.size() && numJoints() == jnt_data.effort.size());
     assert(act_data.effort[0] && act_data.effort[1] && jnt_data.effort[0] && jnt_data.effort[1]);
@@ -281,7 +281,7 @@ inline void DifferentialTransmission::jointToActuatorEffort(const JointData& jnt
     *act_data.effort[1] = (*jnt_data.effort[0] / jr[0] - *jnt_data.effort[1] / jr[1]) / (2.0 * ar[1]);
 }
 
-inline void DifferentialTransmission::jointToActuatorVelocity(const JointData& jnt_data, VelocityActuatorData& act_data)
+inline void DifferentialTransmission::jointToActuator(const VelocityJointData& jnt_data, VelocityActuatorData& act_data)
 {
     assert(numActuators() == act_data.velocity.size() && numJoints() == jnt_data.velocity.size());
     assert(act_data.velocity[0] && act_data.velocity[1] && jnt_data.velocity[0] && jnt_data.velocity[1]);
@@ -293,7 +293,7 @@ inline void DifferentialTransmission::jointToActuatorVelocity(const JointData& j
     *act_data.velocity[1] = (*jnt_data.velocity[0] * jr[0] - *jnt_data.velocity[1] * jr[1]) * ar[1];
 }
 
-inline void DifferentialTransmission::jointToActuatorPosition(const JointData& jnt_data, PositionActuatorData& act_data)
+inline void DifferentialTransmission::jointToActuator(const PositionJointData& jnt_data, PositionActuatorData& act_data)
 {
     assert(numActuators() == act_data.position.size() && numJoints() == jnt_data.position.size());
     assert(act_data.position[0] && act_data.position[1] && jnt_data.position[0] && jnt_data.position[1]);

transmission_interface/include/transmission_interface/four_bar_linkage_transmission.h

@@ -144,7 +144,7 @@ class FourBarLinkageTransmission : public Transmission
      *  To call this method it is not required that all other data vectors contain valid data, and can even remain
      * empty.
      */
-    void actuatorToJointVelocity(const VelocityActuatorData& act_data, JointData& jnt_data);
+    void actuatorToJoint(const VelocityActuatorData& act_data, JointData& jnt_data);
 
     /**
      * \brief Transform \e position variables from actuator to joint space.
@@ -154,7 +154,7 @@ class FourBarLinkageTransmission : public Transmission
      *  To call this method it is not required that all other data vectors contain valid data, and can even remain
      * empty.
      */
-    void actuatorToJointPosition(const PositionActuatorData& act_data, JointData& jnt_data);
+    void actuatorToJoint(const PositionActuatorData& act_data, JointData& jnt_data);
 
     /**
      * \brief Transform \e effort variables from joint to actuator space.
@@ -164,7 +164,7 @@ class FourBarLinkageTransmission : public Transmission
      *  To call this method it is not required that all other data vectors contain valid data, and can even remain
      * empty.
      */
-    void jointToActuatorEffort(const JointData& jnt_data, EffortActuatorData& act_data);
+    void jointToActuator(const EffortJointData& jnt_data, EffortActuatorData& act_data);
 
     /**
      * \brief Transform \e velocity variables from joint to actuator space.
@@ -174,7 +174,7 @@ class FourBarLinkageTransmission : public Transmission
      *  To call this method it is not required that all other data vectors contain valid data, and can even remain
      * empty.
      */
-    void jointToActuatorVelocity(const JointData& jnt_data, VelocityActuatorData& act_data);
+    void jointToActuator(const VelocityJointData& jnt_data, VelocityActuatorData& act_data);
 
     /**
      * \brief Transform \e position variables from joint to actuator space.
@@ -184,7 +184,7 @@ class FourBarLinkageTransmission : public Transmission
      *  To call this method it is not required that all other data vectors contain valid data, and can even remain
      * empty.
      */
-    void jointToActuatorPosition(const JointData& jnt_data, PositionActuatorData& act_data);
+    void jointToActuator(const PositionJointData& jnt_data, PositionActuatorData& act_data);
 
     std::size_t numActuators() const
     {
@@ -243,8 +243,7 @@ inline void FourBarLinkageTransmission::actuatorToJoint(const EffortActuatorData
     *jnt_data.effort[1] = jr[1] * (*act_data.effort[1] * ar[1] - *act_data.effort[0] * ar[0] * jr[0]);
 }
 
-inline void FourBarLinkageTransmission::actuatorToJointVelocity(const VelocityActuatorData& act_data,
-                                                                JointData& jnt_data)
+inline void FourBarLinkageTransmission::actuatorToJoint(const VelocityActuatorData& act_data, JointData& jnt_data)
 {
     assert(numActuators() == act_data.velocity.size() && numJoints() == jnt_data.velocity.size());
     assert(act_data.velocity[0] && act_data.velocity[1] && jnt_data.velocity[0] && jnt_data.velocity[1]);
@@ -256,7 +255,7 @@ inline void FourBarLinkageTransmission::actuatorToJointVelocity(const VelocityAc
     *jnt_data.velocity[1] = (*act_data.velocity[1] / ar[1] - *act_data.velocity[0] / (jr[0] * ar[0])) / jr[1];
 }
 
-inline void FourBarLinkageTransmission::actuatorToJointPosition(const PositionActuatorData& act_data,
+inline void FourBarLinkageTransmission::actuatorToJoint(const PositionActuatorData& act_data,
                                                                 JointData& jnt_data)
 {
     assert(numActuators() == act_data.position.size() && numJoints() == jnt_data.position.size());
@@ -270,7 +269,7 @@ inline void FourBarLinkageTransmission::actuatorToJointPosition(const PositionAc
         (*act_data.position[1] / ar[1] - *act_data.position[0] / (jr[0] * ar[0])) / jr[1] + jnt_offset_[1];
 }
 
-inline void FourBarLinkageTransmission::jointToActuatorEffort(const JointData& jnt_data, EffortActuatorData& act_data)
+inline void FourBarLinkageTransmission::jointToActuator(const EffortJointData& jnt_data, EffortActuatorData& act_data)
 {
     assert(numActuators() == act_data.effort.size() && numJoints() == jnt_data.effort.size());
     assert(act_data.effort[0] && act_data.effort[1] && jnt_data.effort[0] && jnt_data.effort[1]);
@@ -282,7 +281,7 @@ inline void FourBarLinkageTransmission::jointToActuatorEffort(const JointData& j
     *act_data.effort[1] = (*jnt_data.effort[0] + *jnt_data.effort[1] / jr[1]) / ar[1];
 }
 
-inline void FourBarLinkageTransmission::jointToActuatorVelocity(const JointData& jnt_data,
+inline void FourBarLinkageTransmission::jointToActuator(const VelocityJointData& jnt_data,
                                                                 VelocityActuatorData& act_data)
 {
     assert(numActuators() == act_data.velocity.size() && numJoints() == jnt_data.velocity.size());
@@ -295,7 +294,7 @@ inline void FourBarLinkageTransmission::jointToActuatorVelocity(const JointData&
     *act_data.velocity[1] = (*jnt_data.velocity[0] + *jnt_data.velocity[1] * jr[1]) * ar[1];
 }
 
-inline void FourBarLinkageTransmission::jointToActuatorPosition(const JointData& jnt_data,
+inline void FourBarLinkageTransmission::jointToActuator(const PositionJointData& jnt_data,
                                                                 PositionActuatorData& act_data)
 {
     assert(numActuators() == act_data.position.size() && numJoints() == jnt_data.position.size());

transmission_interface/include/transmission_interface/simple_transmission.h

@@ -119,7 +119,7 @@ class SimpleTransmission : public Transmission
      *  To call this method it is not required that all other data vectors contain valid data, and can even remain
      * empty.
      */
-    void actuatorToJointVelocity(const VelocityActuatorData& act_data, JointData& jnt_data);
+    void actuatorToJoint(const VelocityActuatorData& act_data, JointData& jnt_data);
 
     /**
      * \brief Transform \e position variables from actuator to joint space.
@@ -129,7 +129,7 @@ class SimpleTransmission : public Transmission
      *  To call this method it is not required that all other data vectors contain valid data, and can even remain
      * empty.
      */
-    void actuatorToJointPosition(const PositionActuatorData& act_data, JointData& jnt_data);
+    void actuatorToJoint(const PositionActuatorData& act_data, JointData& jnt_data);
 
     /**
      * \brief Transform \e effort variables from joint to actuator space.
@@ -139,7 +139,7 @@ class SimpleTransmission : public Transmission
      *  To call this method it is not required that all other data vectors contain valid data, and can even remain
      * empty.
      */
-    void jointToActuatorEffort(const JointData& jnt_data, EffortActuatorData& act_data);
+    void jointToActuator(const EffortJointData& jnt_data, EffortActuatorData& act_data);
 
     /**
      * \brief Transform \e velocity variables from joint to actuator space.
@@ -149,7 +149,7 @@ class SimpleTransmission : public Transmission
      *  To call this method it is not required that all other data vectors contain valid data, and can even remain
      * empty.
      */
-    void jointToActuatorVelocity(const JointData& jnt_data, VelocityActuatorData& act_data);
+    void jointToActuator(const VelocityJointData& jnt_data, VelocityActuatorData& act_data);
 
     /**
      * \brief Transform \e position variables from joint to actuator space.
@@ -159,7 +159,7 @@ class SimpleTransmission : public Transmission
      *  To call this method it is not required that all other data vectors contain valid data, and can even remain
      * empty.
      */
-    void jointToActuatorPosition(const JointData& jnt_data, PositionActuatorData& act_data);
+    void jointToActuator(const PositionJointData& jnt_data, PositionActuatorData& act_data);
 
     std::size_t numActuators() const
     {
@@ -201,39 +201,39 @@ inline void SimpleTransmission::actuatorToJoint(const EffortActuatorData& act_da
     *jnt_data.effort[0] = *act_data.effort[0] * reduction_;
 }
 
-inline void SimpleTransmission::actuatorToJointVelocity(const VelocityActuatorData& act_data, JointData& jnt_data)
+inline void SimpleTransmission::actuatorToJoint(const VelocityActuatorData& act_data, JointData& jnt_data)
 {
     assert(numActuators() == act_data.velocity.size() && numJoints() == jnt_data.velocity.size());
     assert(act_data.velocity[0] && jnt_data.velocity[0]);
 
     *jnt_data.velocity[0] = *act_data.velocity[0] / reduction_;
 }
 
-inline void SimpleTransmission::actuatorToJointPosition(const PositionActuatorData& act_data, JointData& jnt_data)
+inline void SimpleTransmission::actuatorToJoint(const PositionActuatorData& act_data, JointData& jnt_data)
 {
     assert(numActuators() == act_data.position.size() && numJoints() == jnt_data.position.size());
     assert(act_data.position[0] && jnt_data.position[0]);
 
     *jnt_data.position[0] = *act_data.position[0] / reduction_ + jnt_offset_;
 }
 
-inline void SimpleTransmission::jointToActuatorEffort(const JointData& jnt_data, EffortActuatorData& act_data)
+inline void SimpleTransmission::jointToActuator(const EffortJointData& jnt_data, EffortActuatorData& act_data)
 {
     assert(numActuators() == act_data.effort.size() && numJoints() == jnt_data.effort.size());
     assert(act_data.effort[0] && jnt_data.effort[0]);
 
     *act_data.effort[0] = *jnt_data.effort[0] / reduction_;
 }
 
-inline void SimpleTransmission::jointToActuatorVelocity(const JointData& jnt_data, VelocityActuatorData& act_data)
+inline void SimpleTransmission::jointToActuator(const VelocityJointData& jnt_data, VelocityActuatorData& act_data)
 {
     assert(numActuators() == act_data.velocity.size() && numJoints() == jnt_data.velocity.size());
     assert(act_data.velocity[0] && jnt_data.velocity[0]);
 
     *act_data.velocity[0] = *jnt_data.velocity[0] * reduction_;
 }
 
-inline void SimpleTransmission::jointToActuatorPosition(const JointData& jnt_data, PositionActuatorData& act_data)
+inline void SimpleTransmission::jointToActuator(const PositionJointData& jnt_data, PositionActuatorData& act_data)
 {
     assert(numActuators() == act_data.position.size() && numJoints() == jnt_data.position.size());
     assert(act_data.position[0] && jnt_data.position[0]);

transmission_interface/include/transmission_interface/transmission.h

@@ -87,7 +87,7 @@ class Transmission
      * transmission actuators and joints.
      * Data vectors not used in this map can remain empty.
      */
-    virtual void actuatorToJointVelocity(const VelocityActuatorData& act_data, JointData& jnt_data) = 0;
+    virtual void actuatorToJoint(const VelocityActuatorData& act_data, JointData& jnt_data) = 0;
 
     /**
      * \brief Transform \e position variables from actuator to joint space.
@@ -97,7 +97,7 @@ class Transmission
      * transmission actuators and joints.
      * Data vectors not used in this map can remain empty.
      */
-    virtual void actuatorToJointPosition(const PositionActuatorData& act_data, JointData& jnt_data) = 0;
+    virtual void actuatorToJoint(const PositionActuatorData& act_data, JointData& jnt_data) = 0;
 
     /**
      * \brief Transform \e effort variables from joint to actuator space.
@@ -107,7 +107,7 @@ class Transmission
      * transmission actuators and joints.
      * Data vectors not used in this map can remain empty.
      */
-    virtual void jointToActuatorEffort(const JointData& jnt_data, EffortActuatorData& act_data) = 0;
+    virtual void jointToActuator(const EffortJointData& jnt_data, EffortActuatorData& act_data) = 0;
 
     /**
      * \brief Transform \e velocity variables from joint to actuator space.
@@ -117,7 +117,7 @@ class Transmission
      * transmission actuators and joints.
      * Data vectors not used in this map can remain empty.
      */
-    virtual void jointToActuatorVelocity(const JointData& jnt_data, VelocityActuatorData& act_data) = 0;
+    virtual void jointToActuator(const VelocityJointData& jnt_data, VelocityActuatorData& act_data) = 0;
 
     /**
      * \brief Transform \e position variables from joint to actuator space.
@@ -127,7 +127,7 @@ class Transmission
      * transmission actuators and joints.
      * Data vectors not used in this map can remain empty.
      */
-    virtual void jointToActuatorPosition(const JointData& jnt_data, PositionActuatorData& act_data) = 0;
+    virtual void jointToActuator(const PositionJointData& jnt_data, PositionActuatorData& act_data) = 0;
 
     /** \return Number of actuators managed by transmission, ie. the dimension of the actuator space. */
     virtual std::size_t numActuators() const = 0;