A handle used to read the state of a single actuator. Currently, position, velocity and effort fields are required while absolute position and torque sensors are optional. More...

#include <actuator_state_interface.h>

Inheritance diagram for hardware_interface::ActuatorStateHandle:

[legend]

Public Member Functions
	ActuatorStateHandle ()=default

	ActuatorStateHandle (const std::string &name, const double pos, const double vel, const double *eff)

	ActuatorStateHandle (const std::string &name, const double pos, const double vel, const double eff, const double absolute_pos)

	ActuatorStateHandle (const std::string &name, const double pos, const double vel, const double eff, const double absolute_pos, const double *torque_sensor)

	ActuatorStateHandle (const std::string &name, const double pos, const double vel, const double eff, const double torque_sensor, bool)

double	getAbsolutePosition () const

const double *	getAbsolutePositionPtr () const

double	getEffort () const

const double *	getEffortPtr () const

std::string	getName () const

double	getPosition () const

const double *	getPositionPtr () const

double	getTorqueSensor () const

const double *	getTorqueSensorPtr () const

double	getVelocity () const

const double *	getVelocityPtr () const

bool	hasAbsolutePosition () const

bool	hasTorqueSensor () const

Private Attributes
const double *	absolute_pos_ = {nullptr}

const double *	eff_ = {nullptr}

std::string	name_

const double *	pos_ = {nullptr}

const double *	torque_sensor_ = {nullptr}

const double *	vel_ = {nullptr}

Detailed Description

A handle used to read the state of a single actuator. Currently, position, velocity and effort fields are required while absolute position and torque sensors are optional.

Definition at line 45 of file actuator_state_interface.h.

Constructor & Destructor Documentation

◆ ActuatorStateHandle() [1/5]

hardware_interface::ActuatorStateHandle::ActuatorStateHandle ( )

default

◆ ActuatorStateHandle() [2/5]

hardware_interface::ActuatorStateHandle::ActuatorStateHandle	(	const std::string &	name,
		const double *	pos,
		const double *	vel,
		const double *	eff
	)

inline

Parameters

name	The name of the actuator
pos	A pointer to the storage for this actuator's position
vel	A pointer to the storage for this actuator's velocity
eff	A pointer to the storage for this actuator's effort (force or torque)

Definition at line 56 of file actuator_state_interface.h.

◆ ActuatorStateHandle() [3/5]

hardware_interface::ActuatorStateHandle::ActuatorStateHandle	(	const std::string &	name,
		const double *	pos,
		const double *	vel,
		const double *	eff,
		const double *	absolute_pos,
		const double *	torque_sensor
	)

inline

Parameters

name	The name of the actuator
pos	A pointer to the storage for this actuator's position
vel	A pointer to the storage for this actuator's velocity
eff	A pointer to the storage for this actuator's effort (force or torque)
absolute_pos	A pointer to the storage for this actuator's absolute position encoder
torque_sensor	A pointer to the storage for this actuator's torque sensor

Definition at line 81 of file actuator_state_interface.h.

◆ ActuatorStateHandle() [4/5]

hardware_interface::ActuatorStateHandle::ActuatorStateHandle	(	const std::string &	name,
		const double *	pos,
		const double *	vel,
		const double *	eff,
		const double *	absolute_pos
	)

inline

Parameters

name	The name of the actuator
pos	A pointer to the storage for this actuator's position
vel	A pointer to the storage for this actuator's velocity
eff	A pointer to the storage for this actuator's effort (force or torque)
absolute_pos	A pointer to the storage for this actuator's absolute position encoder

Definition at line 115 of file actuator_state_interface.h.

◆ ActuatorStateHandle() [5/5]

hardware_interface::ActuatorStateHandle::ActuatorStateHandle	(	const std::string &	name,
		const double *	pos,
		const double *	vel,
		const double *	eff,
		const double *	torque_sensor,
		bool
	)

inline

Parameters

name	The name of the actuator
pos	A pointer to the storage for this actuator's position
vel	A pointer to the storage for this actuator's velocity
eff	A pointer to the storage for this actuator's effort (force or torque)
torque_sensor	A pointer to the storage for this actuator's torque sensor
bool	Dummy parameter to differentiate from absolute encoder constructor