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Fix fourbarlinkage #1837

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Fix fourbarlinkage #1837

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b6bdc7b
Fixed effort mapping for FourBarLinkageTransmission
BartlomiejK2 Nov 2, 2024
b39be8c
Fixed effort mapping equations in comment
BartlomiejK2 Nov 2, 2024
8a3b886
Merge branch 'master' into fix-fourbarlinkage
BartlomiejK2 Nov 2, 2024
d64422f
Merge branch 'ros-controls:master' into fix-fourbarlinkage
BartlomiejK2 Apr 18, 2025
3e7180a
Fixed tests for FourBarLinkageTransmission
BartlomiejK2 Apr 18, 2025
f1d0bf0
Merge branch 'ros-controls:master' into fix-fourbarlinkage
BartlomiejK2 Apr 18, 2025
94ae087
Merge branch 'master' into fix-fourbarlinkage
BartlomiejK2 Apr 24, 2025
254a4a8
Merge branch 'master' into fix-fourbarlinkage
christophfroehlich Apr 26, 2025
2fda9ca
Merge branch 'master' into fix-fourbarlinkage
BartlomiejK2 Apr 27, 2025
c72d106
Merge branch 'master' into fix-fourbarlinkage
BartlomiejK2 May 1, 2025
63a248c
Merge branch 'master' into fix-fourbarlinkage
BartlomiejK2 May 7, 2025
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17 changes: 8 additions & 9 deletions transmission_interface/include/transmission_interface/four_bar_linkage_transmission.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -45,8 +45,8 @@ namespace transmission_interface
* </td>
* <td>
* \f{eqnarray*}{
* \tau_{j_1} & = & n_{j_1} n_{a_1} \tau_{a_1} \\
* \tau_{j_2} & = & n_{j_2} (n_{a_2} \tau_{a_2} - n_{j_1} n_{a_1} \tau_{a_1})
* \tau_{j_1} & = & n_{j_1} n_{a_1} \tau_{a_1} + n_{a_2} \tau_{a_2} \\
* \tau_{j_2} & = & n_{j_2} n_{a_2} \tau_{a_2}2}
* \f}
* </td>
* <td>
Expand All @@ -67,8 +67,8 @@ namespace transmission_interface
* </td>
* <td>
* \f{eqnarray*}{
* \tau_{a_1} & = & \tau_{j_1} / (n_{j_1} n_{a_1}) \\
* \tau_{a_2} & = & \frac{ \tau_{j_1} + \tau_{j_2} / n_{j_2} }{ n_{a_2} }
* \tau_{a_1} & = & \frac{\tau_{j_1} - \tau_{j_2}/n_{j_2}} {n_{j_1} n_{a_1}} \\
* \tau_{a_2} & = & \frac{\tau_{j_2}} {n_{j_2} n_{a_2}}
* \f}
* </td>
* <td>
Expand Down Expand Up @@ -287,9 +287,8 @@ inline void FourBarLinkageTransmission::actuator_to_joint()
{
assert(act_eff[0] && act_eff[1] && joint_eff[0] && joint_eff[1]);

joint_eff[0].set_value(jr[0] * act_eff[0].get_value() * ar[0]);
joint_eff[1].set_value(
jr[1] * (act_eff[1].get_value() * ar[1] - jr[0] * act_eff[0].get_value() * ar[0]));
joint_eff[0].set_value(jr[0] * act_eff[0].get_value() * ar[0] + act_eff[1].get_value() * ar[1]);
joint_eff[1].set_value(jr[1] * act_eff[1].get_value() * ar[1]);
}
}

Expand Down Expand Up @@ -329,8 +328,8 @@ inline void FourBarLinkageTransmission::joint_to_actuator()
{
assert(act_eff[0] && act_eff[1] && joint_eff[0] && joint_eff[1]);

act_eff[0].set_value(joint_eff[0].get_value() / (ar[0] * jr[0]));
act_eff[1].set_value((joint_eff[0].get_value() + joint_eff[1].get_value() / jr[1]) / ar[1]);
act_eff[0].set_value((joint_eff[0].get_value() - joint_eff[1].get_value() / jr[1]) / (jr[0] * ar[0]));
act_eff[1].set_value(joint_eff[1].get_value() / (ar[1] * jr[1]));
}
}

Expand Down
10 changes: 5 additions & 5 deletions transmission_interface/test/four_bar_linkage_transmission_test.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -297,8 +297,8 @@ TEST_F(WhiteBoxTest, MoveFirstJointOnly)
auto joint2_handle = JointHandle("joint2", HW_IF_EFFORT, j_vec[1]);
trans.configure({joint1_handle, joint2_handle}, {a1_handle, a2_handle});
trans.actuator_to_joint();
EXPECT_THAT(100.0, DoubleNear(j_val[0], EPS));
EXPECT_THAT(0.0, DoubleNear(j_val[1], EPS));
EXPECT_THAT(200.0, DoubleNear(j_val[0], EPS));
EXPECT_THAT(200.0, DoubleNear(j_val[1], EPS));
}

// Velocity interface
Expand Down Expand Up @@ -349,7 +349,7 @@ TEST_F(WhiteBoxTest, MoveSecondJointOnly)
auto joint2_handle = JointHandle("joint2", HW_IF_EFFORT, j_vec[1]);
trans.configure({joint1_handle, joint2_handle}, {a1_handle, a2_handle});
trans.actuator_to_joint();
EXPECT_THAT(0.0, DoubleNear(j_val[0], EPS));
EXPECT_THAT(100.0, DoubleNear(j_val[0], EPS));
EXPECT_THAT(200.0, DoubleNear(j_val[1], EPS));
}

Expand Down Expand Up @@ -402,8 +402,8 @@ TEST_F(WhiteBoxTest, MoveBothJoints)
auto joint2_handle = JointHandle("joint2", HW_IF_EFFORT, j_vec[1]);
trans.configure({joint1_handle, joint2_handle}, {a1_handle, a2_handle});
trans.actuator_to_joint();
EXPECT_THAT(-60.0, DoubleNear(j_val[0], EPS));
EXPECT_THAT(-160.0, DoubleNear(j_val[1], EPS));
EXPECT_THAT(-160.0, DoubleNear(j_val[0], EPS));
EXPECT_THAT(-400.0, DoubleNear(j_val[1], EPS));
}

// Velocity interface
Expand Down