hardware_interface::ActuatorStateHandle Class Reference

#include <actuator_state_interface.h>

Inheritance diagram for hardware_interface::ActuatorStateHandle:

Public Member Functions
	ActuatorStateHandle ()
	ActuatorStateHandle (const std::string &name, const double *pos, const double *vel, const double *eff)
double	getEffort () const
const double *	getEffortPtr () const
std::string	getName () const
double	getPosition () const
const double *	getPositionPtr () const
double	getVelocity () const
const double *	getVelocityPtr () const

Private Attributes
const double *	eff_
std::string	name_
const double *	pos_
const double *	vel_

Detailed Description

A handle used to read the state of a single actuator.

Definition at line 41 of file actuator_state_interface.h.

Constructor & Destructor Documentation

hardware_interface::ActuatorStateHandle::ActuatorStateHandle ( )

inline

Definition at line 44 of file actuator_state_interface.h.

hardware_interface::ActuatorStateHandle::ActuatorStateHandle ( const std::string &  name, const double *  pos, const double *  vel, const double *  eff  )

inline

Parameters

name	The name of the actuator
pos	A pointer to the storage for this actuator's position
vel	A pointer to the storage for this actuator's velocity
eff	A pointer to the storage for this actuator's effort (force or torque)

Definition at line 52 of file actuator_state_interface.h.

Member Function Documentation

double hardware_interface::ActuatorStateHandle::getEffort ( ) const

inline

Definition at line 72 of file actuator_state_interface.h.

const double* hardware_interface::ActuatorStateHandle::getEffortPtr ( ) const

inline

Definition at line 76 of file actuator_state_interface.h.

std::string hardware_interface::ActuatorStateHandle::getName ( ) const

inline

Definition at line 69 of file actuator_state_interface.h.

double hardware_interface::ActuatorStateHandle::getPosition ( ) const

inline

Definition at line 70 of file actuator_state_interface.h.

const double* hardware_interface::ActuatorStateHandle::getPositionPtr ( ) const

inline

Definition at line 74 of file actuator_state_interface.h.

double hardware_interface::ActuatorStateHandle::getVelocity ( ) const

inline

Definition at line 71 of file actuator_state_interface.h.

const double* hardware_interface::ActuatorStateHandle::getVelocityPtr ( ) const

inline

Definition at line 75 of file actuator_state_interface.h.

Member Data Documentation

const double* hardware_interface::ActuatorStateHandle::eff_

private

Definition at line 82 of file actuator_state_interface.h.

std::string hardware_interface::ActuatorStateHandle::name_

private

Definition at line 79 of file actuator_state_interface.h.

const double* hardware_interface::ActuatorStateHandle::pos_

private

Definition at line 80 of file actuator_state_interface.h.

const double* hardware_interface::ActuatorStateHandle::vel_

private

Definition at line 81 of file actuator_state_interface.h.

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

• actuator_state_interface.h