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

#include <posvelacc_command_interface.h>

Inheritance diagram for hardware_interface::PosVelAccJointHandle:

Public Member Functions
double	getCommandAcceleration () const

	PosVelAccJointHandle ()=default

	PosVelAccJointHandle (const JointStateHandle &js, double cmd_pos, double cmd_vel, double *cmd_acc)

void	setCommand (double cmd_pos, double cmd_vel, double cmd_acc)

void	setCommandAcceleration (double cmd_acc)

Public Member Functions inherited from hardware_interface::PosVelJointHandle
double	getCommandPosition () const

double	getCommandVelocity () const

	PosVelJointHandle ()=default

	PosVelJointHandle (const JointStateHandle &js, double cmd_pos, double cmd_vel)

void	setCommand (double cmd_pos, double cmd_vel)

void	setCommandPosition (double cmd_pos)

void	setCommandVelocity (double cmd_vel)

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_acc_ = {nullptr}

Detailed Description

A handle used to read and command a single joint.

Definition at line 42 of file posvelacc_command_interface.h.

Constructor & Destructor Documentation

◆ PosVelAccJointHandle() [1/2]

hardware_interface::PosVelAccJointHandle::PosVelAccJointHandle ( )

default

◆ PosVelAccJointHandle() [2/2]

hardware_interface::PosVelAccJointHandle::PosVelAccJointHandle	(	const JointStateHandle &	js,
		double *	cmd_pos,
		double *	cmd_vel,
		double *	cmd_acc
	)

inline

Parameters

js	This joint's state handle
cmd_pos	A pointer to the storage for this joint's output command position
cmd_vel	A pointer to the storage for this joint's output command velocity
eff_cmd	A pointer to the storage for this joint's output command acceleration

Definition at line 53 of file posvelacc_command_interface.h.