Struct InterfaceInfo
Defined in File hardware_info.hpp
Struct Documentation
-
struct InterfaceInfo
This structure stores information about components defined for a specific hardware in robot’s URDF.
Public Members
-
std::string name
Name of the command interfaces that can be set, e.g. “position”, “velocity”, etc. Used by joints and GPIOs.
-
std::string min
(Optional) Minimal allowed values of the interface.
-
std::string max
(Optional) Maximal allowed values of the interface.
-
std::string initial_value
(Optional) Initial value of the interface.
-
std::string data_type
(Optional) The datatype of the interface, e.g. “bool”, “int”.
-
int size
(Optional) If the handle is an array, the size of the array.
-
bool enable_limits
(Optional) enable or disable the limits for the command interfaces
-
std::unordered_map<std::string, std::string> parameters
(Optional) Key-value pairs of command/stateInterface parameters. This is useful for drivers that operate on protocols like modbus, where each interface needs own address(register), datatype, etc.
-
std::string name