30 #ifndef HARDWARE_INTERFACE_POSVEL_COMMAND_INTERFACE_H 31 #define HARDWARE_INTERFACE_POSVEL_COMMAND_INTERFACE_H double getCommandPosition() const
double getCommandVelocity() const
void setCommandPosition(double cmd_pos)
std::string getName() const
void setCommand(double cmd_pos, double cmd_vel)
An exception related to a HardwareInterface.
PosVelJointHandle(const JointStateHandle &js, double *cmd_pos, double *cmd_vel)
Hardware interface to support commanding an array of joints.
A handle used to read and command a single joint.
void setCommandVelocity(double cmd_vel)
Base class for handling hardware resources.