30 #ifndef HARDWARE_INTERFACE_JOINT_COMMAND_INTERFACE_H 31 #define HARDWARE_INTERFACE_JOINT_COMMAND_INTERFACE_H JointCommandInterface for commanding effort-based joints.
std::string getName() const
double getCommand() const
An exception related to a HardwareInterface.
JointHandle(const JointStateHandle &js, double *cmd)
JointCommandInterface for commanding velocity-based joints.
A handle used to read and command a single joint.
Hardware interface to support commanding an array of joints.
void setCommand(double command)
Base class for handling hardware resources.
JointCommandInterface for commanding position-based joints.