hardware_interface::JointHandle Class Reference

A handle used to read and command a single joint. More...

#include <joint_command_interface.h>

Inheritance diagram for hardware_interface::JointHandle:

Public Member Functions
double	getCommand () const
const double *	getCommandPtr () const
	JointHandle ()=default
	JointHandle (const JointStateHandle &js, double *cmd)
void	setCommand (double command)
Public Member Functions inherited from hardware_interface::JointStateHandle
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
	JointStateHandle ()=default
	JointStateHandle (const std::string &name, const double *pos, const double *vel, const double *eff)
	JointStateHandle (const std::string &name, const double *pos, const double *vel, const double *eff, const double *absolute_pos)
	JointStateHandle (const std::string &name, const double *pos, const double *vel, const double *eff, const double *absolute_pos, const double *torque_sensor)
	JointStateHandle (const std::string &name, const double *pos, const double *vel, const double *eff, const double *torque_sensor, bool)

Private Attributes
double *	cmd_ = {nullptr}

Detailed Description

A handle used to read and command a single joint.

Definition at line 42 of file joint_command_interface.h.

Constructor & Destructor Documentation

JointHandle() [1/2]

hardware_interface::JointHandle::JointHandle ( )

default

JointHandle() [2/2]

hardware_interface::JointHandle::JointHandle ( const JointStateHandle &  js, double *  cmd  )

inline

Parameters

js	This joint's state handle
cmd	A pointer to the storage for this joint's output command

Definition at line 51 of file joint_command_interface.h.

Member Function Documentation

getCommand()

double hardware_interface::JointHandle::getCommand ( ) const

inline

Definition at line 61 of file joint_command_interface.h.

getCommandPtr()

const double* hardware_interface::JointHandle::getCommandPtr ( ) const

inline

Definition at line 62 of file joint_command_interface.h.

setCommand()

void hardware_interface::JointHandle::setCommand ( double  command )

inline

Definition at line 60 of file joint_command_interface.h.

Member Data Documentation

cmd_

double* hardware_interface::JointHandle::cmd_ = {nullptr}

private

Definition at line 65 of file joint_command_interface.h.

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The documentation for this class was generated from the following file:

• joint_command_interface.h