A handle used to read and command a single joint. More...

Inheritance diagram for hardware_interface::JointHandle:

Public Member Functions
double	getCommand () const

	JointHandle ()

	JointHandle (const JointStateHandle &js, double *cmd)

void	setCommand (double command)

Public Member Functions inherited from hardware_interface::JointStateHandle
double	getEffort () const

std::string	getName () const

double	getPosition () const

double	getVelocity () const

	JointStateHandle ()

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

Detailed Description

A handle used to read and command a single joint.

Definition at line 42 of file joint_command_interface.h.

Constructor & Destructor Documentation

hardware_interface::JointHandle::JointHandle ( )

inline

Definition at line 45 of file joint_command_interface.h.

hardware_interface::JointHandle::JointHandle	(	const JointStateHandle &	js,
		double *	cmd
	)

inline

Parameters

js	This joint's state handle
cmd	A pointer to the storage for this joint's output command

Definition at line 51 of file joint_command_interface.h.

double hardware_interface::JointHandle::getCommand ( ) const

inline

Definition at line 61 of file joint_command_interface.h.

void hardware_interface::JointHandle::setCommand ( double command )

inline

Definition at line 60 of file joint_command_interface.h.

double* hardware_interface::JointHandle::cmd_

private

Definition at line 64 of file joint_command_interface.h.

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