hardware_interface::PosVelJointHandle Class Reference

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

#include <posvel_command_interface.h>

Inheritance diagram for hardware_interface::PosVelJointHandle:

List of all members.

Public Member Functions
double	getCommandPosition () const
double	getCommandVelocity () const
	PosVelJointHandle ()
	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)
Private Attributes
double *	cmd_pos_
double *	cmd_vel_

---

Detailed Description

A handle used to read and command a single joint.

Definition at line 42 of file posvel_command_interface.h.

---

Constructor & Destructor Documentation

hardware_interface::PosVelJointHandle::PosVelJointHandle

(

)

[inline]

Definition at line 45 of file posvel_command_interface.h.

hardware_interface::PosVelJointHandle::PosVelJointHandle	(	const JointStateHandle &	js,
		double *	cmd_pos,
		double *	cmd_vel
	)		[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

Definition at line 52 of file posvel_command_interface.h.

---

Member Function Documentation

double hardware_interface::PosVelJointHandle::getCommandPosition

(

)

const [inline]

Definition at line 74 of file posvel_command_interface.h.

double hardware_interface::PosVelJointHandle::getCommandVelocity

(

)

const [inline]

Definition at line 75 of file posvel_command_interface.h.

void hardware_interface::PosVelJointHandle::setCommand	(	double	cmd_pos,
		double	cmd_vel
	)		[inline]

Definition at line 65 of file posvel_command_interface.h.

void hardware_interface::PosVelJointHandle::setCommandPosition

(

double

cmd_pos

)

[inline]

Definition at line 71 of file posvel_command_interface.h.

void hardware_interface::PosVelJointHandle::setCommandVelocity

(

double

cmd_vel

)

[inline]

Definition at line 72 of file posvel_command_interface.h.

---

Member Data Documentation

double* hardware_interface::PosVelJointHandle::cmd_pos_ [private]

Definition at line 78 of file posvel_command_interface.h.

double* hardware_interface::PosVelJointHandle::cmd_vel_ [private]

Definition at line 79 of file posvel_command_interface.h.

---

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

• posvel_command_interface.h