ros_controllers_cartesian::TwistCommandHandle Class Reference

A handle for setting twist commands. More...

#include <cartesian_command_interface.h>

Inheritance diagram for ros_controllers_cartesian::TwistCommandHandle:

Public Member Functions
geometry_msgs::Twist	getCommand () const
const geometry_msgs::Twist *	getCommandPtr () const
void	setCommand (const geometry_msgs::Twist &twist)
	TwistCommandHandle ()=default
	TwistCommandHandle (const CartesianStateHandle &state_handle, geometry_msgs::Twist *cmd)
virtual	~TwistCommandHandle ()=default
Public Member Functions inherited from ros_controllers_cartesian::CartesianStateHandle
	CartesianStateHandle ()=default
	CartesianStateHandle (const std::string &ref_frame_id, const std::string &frame_id, const geometry_msgs::Pose *pose, const geometry_msgs::Twist *twist, const geometry_msgs::Accel *accel, const geometry_msgs::Accel *jerk)
geometry_msgs::Accel	getAccel () const
geometry_msgs::Accel	getJerk () const
std::string	getName () const
geometry_msgs::Pose	getPose () const
geometry_msgs::Twist	getTwist () const
virtual	~CartesianStateHandle ()=default

Private Attributes
geometry_msgs::Twist *	cmd_ = { nullptr }

Detailed Description

A handle for setting twist commands.

Cartesian ROS-controllers can use this handle to write their control signals to the according TwistCommandInterface.

Definition at line 81 of file cartesian_command_interface.h.

Constructor & Destructor Documentation

TwistCommandHandle() [1/2]

ros_controllers_cartesian::TwistCommandHandle::TwistCommandHandle ( )

default

TwistCommandHandle() [2/2]

ros_controllers_cartesian::TwistCommandHandle::TwistCommandHandle ( const CartesianStateHandle &  state_handle, geometry_msgs::Twist *  cmd  )

inline

Definition at line 85 of file cartesian_command_interface.h.

~TwistCommandHandle()

virtual ros_controllers_cartesian::TwistCommandHandle::~TwistCommandHandle ( )

virtualdefault

Member Function Documentation

getCommand()

geometry_msgs::Twist ros_controllers_cartesian::TwistCommandHandle::getCommand ( ) const

inline

Definition at line 102 of file cartesian_command_interface.h.

getCommandPtr()

const geometry_msgs::Twist* ros_controllers_cartesian::TwistCommandHandle::getCommandPtr ( ) const

inline

Definition at line 107 of file cartesian_command_interface.h.

setCommand()

void ros_controllers_cartesian::TwistCommandHandle::setCommand ( const geometry_msgs::Twist &  twist )

inline

Definition at line 96 of file cartesian_command_interface.h.

Member Data Documentation

cmd_

geometry_msgs::Twist* ros_controllers_cartesian::TwistCommandHandle::cmd_ = { nullptr }

private

Definition at line 114 of file cartesian_command_interface.h.

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

• cartesian_command_interface.h