hardware_interface::PositionVelocityTorqueGainsJointInterface Class Reference

Hardware interface to support commanding an array of joints. More...

#include <position_velocity_torque_gains_command_interface.h>

Inheritance diagram for hardware_interface::PositionVelocityTorqueGainsJointInterface:

Additional Inherited Members
Public Types inherited from hardware_interface::HardwareResourceManager< PositionVelocityTorqueGainsJointHandle, ClaimResources >
typedef PositionVelocityTorqueGainsJointHandle	ResourceHandleType
Public Types inherited from hardware_interface::ResourceManager< PositionVelocityTorqueGainsJointHandle >
typedef ResourceManager< PositionVelocityTorqueGainsJointHandle >	ResourceManagerType
Public Member Functions inherited from hardware_interface::HardwareResourceManager< PositionVelocityTorqueGainsJointHandle, ClaimResources >
PositionVelocityTorqueGainsJointHandle	getHandle (const std::string &name)
	Get a resource handle by name. More...
Public Member Functions inherited from hardware_interface::HardwareInterface
virtual	~HardwareInterface ()=default
virtual void	claim (std::string resource)
	Claim a resource by name. More...
void	clearClaims ()
	Clear the resources this interface is claiming. More...
std::set< std::string >	getClaims () const
	Get the list of resources this interface is currently claiming. More...
Public Member Functions inherited from hardware_interface::ResourceManager< PositionVelocityTorqueGainsJointHandle >
std::vector< std::string >	getNames () const
void	registerHandle (const PositionVelocityTorqueGainsJointHandle &handle)
	Register a new resource. If the resource name already exists, the previously stored resource value will be replaced with val. More...
PositionVelocityTorqueGainsJointHandle	getHandle (const std::string &name)
	Get a resource handle by name. More...
Public Member Functions inherited from hardware_interface::ResourceManagerBase
virtual	~ResourceManagerBase ()=default
Static Public Member Functions inherited from hardware_interface::ResourceManager< PositionVelocityTorqueGainsJointHandle >
static void	concatManagers (std::vector< ResourceManagerType * > &managers, ResourceManagerType *result)
	Combine a list of interfaces into one. More...
Protected Types inherited from hardware_interface::ResourceManager< PositionVelocityTorqueGainsJointHandle >
typedef std::map< std::string, PositionVelocityTorqueGainsJointHandle >	ResourceMap
Protected Attributes inherited from hardware_interface::ResourceManager< PositionVelocityTorqueGainsJointHandle >
ResourceMap	resource_map_

Detailed Description

Hardware interface to support commanding an array of joints.

This HardwareInterface supports commanding joints by position, velocity, torque and PD gains together in one command.

Note

Getting a joint handle through the getHandle() method will claim that resource.

Definition at line 107 of file position_velocity_torque_gains_command_interface.h.

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

• position_velocity_torque_gains_command_interface.h