Public Member Functions | Public Attributes
ros_ethercat_model::ActuatorState Class Reference

#include <hardware_interface.hpp>

List of all members.

Public Member Functions

 ActuatorState ()

Public Attributes

int device_id_
 Position in EtherCAT chain.
double last_commanded_current_
 Current computed based on effort specified in ActuatorCommand (in amps)
double last_commanded_effort_
 The torque requested in the previous ActuatorCommand (in Nm)
double last_measured_current_
 The measured current (in amps)
double last_measured_effort_
 The measured torque (in Nm)
double max_effort_
 Absolute torque limit for actuator (derived from motor current limit). (in Nm)
double motor_voltage_
 Motor voltage (in volts)
double position_
 The position of the motor (in radians)
double velocity_
 The velocity in radians per second.

Detailed Description

Definition at line 46 of file hardware_interface.hpp.


Constructor & Destructor Documentation

Definition at line 49 of file hardware_interface.hpp.


Member Data Documentation

Position in EtherCAT chain.

Definition at line 62 of file hardware_interface.hpp.

Current computed based on effort specified in ActuatorCommand (in amps)

Definition at line 67 of file hardware_interface.hpp.

The torque requested in the previous ActuatorCommand (in Nm)

Definition at line 70 of file hardware_interface.hpp.

The measured current (in amps)

Definition at line 68 of file hardware_interface.hpp.

The measured torque (in Nm)

Definition at line 71 of file hardware_interface.hpp.

Absolute torque limit for actuator (derived from motor current limit). (in Nm)

Definition at line 73 of file hardware_interface.hpp.

Motor voltage (in volts)

Definition at line 75 of file hardware_interface.hpp.

The position of the motor (in radians)

Definition at line 64 of file hardware_interface.hpp.

The velocity in radians per second.

Definition at line 65 of file hardware_interface.hpp.


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


ros_ethercat_model
Author(s): Manos Nikolaidis
autogenerated on Thu Aug 27 2015 14:47:12