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74 void setCommand(
double cmd_pos,
double cmd_vel,
double cmd_eff,
double cmd_kp,
double cmd_kd)
PositionVelocityTorqueGainsJointHandle()=default
void setCommandEffort(double cmd_eff)
void setCommandKp(double cmd_kp)
void setCommandVelocity(double cmd_vel)
A handle used to read and command a single joint.
A handle used to read and command a single joint.
double getCommandKp() const
A handle used to read the state of a single joint. Currently, position, velocity and effort fields ar...
Hardware interface to support commanding an array of joints.
double getCommandEffort() const
std::string getName() const
PositionVelocityTorqueGainsJointHandle(const JointStateHandle &js, double *cmd_pos, double *cmd_vel, double *cmd_eff, double *cmd_kp, double *cmd_kd)
An exception related to a HardwareInterface.
void setCommandKd(double cmd_kd)
void setCommandPosition(double cmd_pos)
Base class for handling hardware resources.
double getCommandKd() const
void setCommand(double cmd_pos, double cmd_vel, double cmd_eff, double cmd_kp, double cmd_kd)
hardware_interface
Author(s): Wim Meeussen, Adolfo Rodriguez Tsouroukdissian
autogenerated on Fri Nov 3 2023 02:07:57