franka_hw::FrankaCartesianVelocityHandle Class Reference

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

#include <franka_cartesian_command_interface.h>

Inheritance diagram for franka_hw::FrankaCartesianVelocityHandle:

Public Member Functions
	FrankaCartesianVelocityHandle ()=delete
	FrankaCartesianVelocityHandle (const FrankaStateHandle &franka_state_handle, std::array< double, 6 > &command, std::array< double, 2 > &elbow)
const std::array< double, 6 > &	getCommand () const noexcept
	Gets the current command. More...
void	setCommand (std::array< double, 6 > &command) noexcept
	Sets the given command. More...
void	setCommand (const std::array< double, 6 > &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::RobotState &	getRobotState () const noexcept
	Gets the current robot state. More...

Private Attributes
std::array< double, 6 > *	command_
std::array< double, 2 > *	elbow_

Detailed Description

Handle to read and command a Cartesian velocity.

Definition at line 75 of file franka_cartesian_command_interface.h.

Constructor & Destructor Documentation

franka_hw::FrankaCartesianVelocityHandle::FrankaCartesianVelocityHandle ( )

delete

franka_hw::FrankaCartesianVelocityHandle::FrankaCartesianVelocityHandle ( const FrankaStateHandle &  franka_state_handle, std::array< double, 6 > &  command, std::array< double, 2 > &  elbow  )

inline

Parameters

[in]	franka_state_handle	Robot state handle.
[in]	command	A reference to the Cartesian velocity command wrapped by this handle.
[in]	elbow	A reference to the elbow wrapped by this handle.

Definition at line 84 of file franka_cartesian_command_interface.h.

Member Function Documentation

const std::array<double, 6>& franka_hw::FrankaCartesianVelocityHandle::getCommand ( ) const

inlinenoexcept

Gets the current command.

Returns

Current command.

Definition at line 116 of file franka_cartesian_command_interface.h.

void franka_hw::FrankaCartesianVelocityHandle::setCommand ( std::array< double, 6 > &  command )

inlinenoexcept

Sets the given command.

Parameters

[in]

command

Command to set.

Definition at line 94 of file franka_cartesian_command_interface.h.

void franka_hw::FrankaCartesianVelocityHandle::setCommand ( const std::array< double, 6 > &  command, const std::array< double, 2 > &  elbow  )

inlinenoexcept

Sets the given command.

Parameters

[in]	command	Command to set.
[in]	elbow	Elbow to set.

Definition at line 105 of file franka_cartesian_command_interface.h.

Member Data Documentation

std::array<double, 6>* franka_hw::FrankaCartesianVelocityHandle::command_

private

Definition at line 119 of file franka_cartesian_command_interface.h.

std::array<double, 2>* franka_hw::FrankaCartesianVelocityHandle::elbow_

private

Definition at line 120 of file franka_cartesian_command_interface.h.

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

• franka_cartesian_command_interface.h