uTransmission.h File Reference

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Macros
#define	JOINT2ACTUATOR(in, reduction, offset)   (reduction * (in - offset))
	Macro for a simple transmission from joint units to actuator units.
#define	ACTUATOR2JOINT(in, reduction, offset)   (in / reduction + offset)
	Macro for a simple transmission from actuator units to joint units.
#define	M_PI   3.14159265358979323846
	pi
#define	RAD2DEG(rad)   (rad / M_PI * 180)
	Macro to convert radians to degree.
#define	DEG2RAD(deg)   (deg * M_PI / 180)
	Macro to convert degree to radians.

Macro Definition Documentation

ACTUATOR2JOINT

#define ACTUATOR2JOINT	(		in,
			reduction,
			offset
	)		(in / reduction + offset)

Macro for a simple transmission from actuator units to joint units.

The translation is based on the ros2_control transmission interface, simple transmission. For position reduction and offset need to be used.
For velocity and acceleration only use reduction and NO offset
For effort/torque use 1/reduction and NO offset

DEG2RAD

#define DEG2RAD

(

deg

)

(deg * M_PI / 180)

Macro to convert degree to radians.

JOINT2ACTUATOR

#define JOINT2ACTUATOR	(		in,
			reduction,
			offset
	)		(reduction * (in - offset))

Macro for a simple transmission from joint units to actuator units.

The translation is based on the ros2_control transmission interface, simple transmission. For position reduction and offset need to be used.
For velocity and acceleration only use reduction and NO offset
For effort/torque use 1/reduction and NO offset

M_PI

#define M_PI   3.14159265358979323846

pi

RAD2DEG

#define RAD2DEG

(

rad

)

(rad / M_PI * 180)

Macro to convert radians to degree.