Struct ModuleHandles

Defined in File swerve_drive_controller.hpp

Struct Documentation

struct ModuleHandles

Public Members

std::reference_wrapper<const hardware_interface::LoanedStateInterface> steering_state_pos

std::reference_wrapper<hardware_interface::LoanedCommandInterface> steering_cmd_pos

std::reference_wrapper<const hardware_interface::LoanedStateInterface> wheel_state_vel

std::reference_wrapper<hardware_interface::LoanedCommandInterface> wheel_cmd_vel

double x_offset

double y_offset

double angle_offset

double steering_limit_lower

double steering_limit_upper