Public Member Functions | Private Attributes | List of all members
franka_hw::FrankaCartesianPoseHandle Class Reference

Handle to read and command a Cartesian pose. More...

#include <franka_cartesian_command_interface.h>

Inheritance diagram for franka_hw::FrankaCartesianPoseHandle:
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Public Member Functions

 FrankaCartesianPoseHandle ()=delete
 
 FrankaCartesianPoseHandle (const FrankaStateHandle &franka_state_handle, std::array< double, 16 > &command, std::array< double, 2 > &elbow)
 Creates an instance of a FrankaCartesianPoseHandle. More...
 
const std::array< double, 16 > & getCommand () const noexcept
 Gets the current command. More...
 
void setCommand (const std::array< double, 16 > &command) noexcept
 Sets the given command. More...
 
void setCommand (const std::array< double, 16 > &command, const std::array< double, 2 > &elbow) noexcept
 Sets the given command. More...
 
- Public Member Functions inherited from franka_hw::FrankaStateHandle
 FrankaStateHandle ()=delete
 
 FrankaStateHandle (const std::string &name, franka::RobotState &robot_state)
 Creates an instance of a FrankaStateHandle. More...
 
const std::string & getName () const noexcept
 Gets the name of the state handle. More...
 
const franka::RobotStategetRobotState () const noexcept
 Gets the current robot state. More...
 

Private Attributes

std::array< double, 16 > * command_
 
std::array< double, 2 > * elbow_
 

Detailed Description

Handle to read and command a Cartesian pose.

Definition at line 15 of file franka_cartesian_command_interface.h.

Constructor & Destructor Documentation

franka_hw::FrankaCartesianPoseHandle::FrankaCartesianPoseHandle ( )
delete
franka_hw::FrankaCartesianPoseHandle::FrankaCartesianPoseHandle ( const FrankaStateHandle franka_state_handle,
std::array< double, 16 > &  command,
std::array< double, 2 > &  elbow 
)
inline

Creates an instance of a FrankaCartesianPoseHandle.

Parameters
[in]franka_state_handleRobot state handle.
[in]commandA reference to the Cartesian pose command wrapped by this handle.
[in]elbowA reference to the elbow wrapped by this handle.

Definition at line 26 of file franka_cartesian_command_interface.h.

Member Function Documentation

const std::array<double, 16>& franka_hw::FrankaCartesianPoseHandle::getCommand ( ) const
inlinenoexcept

Gets the current command.

Returns
Current command.

Definition at line 58 of file franka_cartesian_command_interface.h.

void franka_hw::FrankaCartesianPoseHandle::setCommand ( const std::array< double, 16 > &  command)
inlinenoexcept

Sets the given command.

Parameters
[in]commandCommand to set.

Definition at line 36 of file franka_cartesian_command_interface.h.

void franka_hw::FrankaCartesianPoseHandle::setCommand ( const std::array< double, 16 > &  command,
const std::array< double, 2 > &  elbow 
)
inlinenoexcept

Sets the given command.

Parameters
[in]commandCommand to set.
[in]elbowElbow to set.

Definition at line 47 of file franka_cartesian_command_interface.h.

Member Data Documentation

std::array<double, 16>* franka_hw::FrankaCartesianPoseHandle::command_
private

Definition at line 61 of file franka_cartesian_command_interface.h.

std::array<double, 2>* franka_hw::FrankaCartesianPoseHandle::elbow_
private

Definition at line 62 of file franka_cartesian_command_interface.h.


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


franka_hw
Author(s): Franka Emika GmbH
autogenerated on Fri Oct 23 2020 03:47:05