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.
@@ -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]);

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.
@@ -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]);

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.
@@ -201,7 +201,7 @@ 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]);

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.

transmission_interface/include/transmission_interface/transmission_interface.h

@@ -147,7 +147,7 @@ class ActuatorToJointStateHandle : public TransmissionHandle<>
     void propagate()
     {
         transmission_->actuatorToJointPosition(actuator_data_, joint_data_);
-        transmission_->actuatorToJointVelocity(actuator_data_, joint_data_);
+        transmission_->actuatorToJoint(actuator_data_, joint_data_);
         transmission_->actuatorToJoint(actuator_data_, joint_data_);
     }
     /*\}*/
@@ -190,7 +190,7 @@ class ActuatorToJointVelocityHandle : public TransmissionHandle<>
     /** \brief Propagate actuator velocities to joint velocities for the stored transmission. */
     void propagate()
     {
-        transmission_->actuatorToJointVelocity(actuator_data_, joint_data_);
+        transmission_->actuatorToJoint(actuator_data_, joint_data_);
     }
     /*\}*/
 };