Actuator-specific commands. More...
#include <command.hpp>
Public Member Functions | |
Actuator (HebiCommandRef &internal) | |
FloatField & | effort () |
Effort at the module output; units vary (e.g., N * m for rotational joints and N for linear stages). More... | |
const FloatField & | effort () const |
Effort at the module output; units vary (e.g., N * m for rotational joints and N for linear stages). More... | |
HighResAngleField & | position () |
Position of the module output (post-spring), in radians. More... | |
const HighResAngleField & | position () const |
Position of the module output (post-spring), in radians. More... | |
FloatField & | velocity () |
Velocity of the module output (post-spring), in radians/second. More... | |
const FloatField & | velocity () const |
Velocity of the module output (post-spring), in radians/second. More... | |
Private Attributes | |
FloatField | effort_ |
const HebiCommandRef & | internal_ |
HighResAngleField | position_ |
FloatField | velocity_ |
Actuator-specific commands.
Definition at line 702 of file command.hpp.
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inline |
Definition at line 705 of file command.hpp.
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inline |
Effort at the module output; units vary (e.g., N * m for rotational joints and N for linear stages).
Definition at line 722 of file command.hpp.
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inline |
Effort at the module output; units vary (e.g., N * m for rotational joints and N for linear stages).
Definition at line 724 of file command.hpp.
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inline |
Position of the module output (post-spring), in radians.
Definition at line 726 of file command.hpp.
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inline |
Position of the module output (post-spring), in radians.
Definition at line 728 of file command.hpp.
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inline |
Velocity of the module output (post-spring), in radians/second.
Definition at line 718 of file command.hpp.
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inline |
Velocity of the module output (post-spring), in radians/second.
Definition at line 720 of file command.hpp.
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private |
Definition at line 735 of file command.hpp.
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private |
Definition at line 732 of file command.hpp.
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private |
Definition at line 736 of file command.hpp.
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private |
Definition at line 734 of file command.hpp.