pr2_hardware_interface::Actuator Class Reference

#include <hardware_interface.h>

Public Member Functions
	Actuator ()
	Actuator (std::string name)

Public Attributes
ActuatorCommand	command_
std::string	name_
ActuatorState	state_

Detailed Description

The Actuator class provides an interface for the PR2's motor controller board (MCB). The MCB is connected to a motor, encoder, and optional calibration sensor.

The ActuatorCommand class is used to enable the motor and set the commanded efforts of the motor (in Nm).

The ActuatorState class reports back on the state of the motor, encoder, and calibration sensor.

Definition at line 147 of file hardware_interface.h.

Constructor & Destructor Documentation

pr2_hardware_interface::Actuator::Actuator ( )

inline

Definition at line 150 of file hardware_interface.h.

pr2_hardware_interface::Actuator::Actuator ( std::string  name )

inline

Definition at line 151 of file hardware_interface.h.

Member Data Documentation

ActuatorCommand pr2_hardware_interface::Actuator::command_

Definition at line 154 of file hardware_interface.h.

std::string pr2_hardware_interface::Actuator::name_

Definition at line 152 of file hardware_interface.h.

ActuatorState pr2_hardware_interface::Actuator::state_

Definition at line 153 of file hardware_interface.h.

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

• hardware_interface.h