ActuatorCommandInterface for commanding velocity-based actuators
An exception related to a HardwareInterface.
A handle used to read and command a single actuator.
ActuatorCommandInterface for commanding position-based actuators
std::string getName() const
ActuatorCommandInterface for commanding effort-based actuators
ActuatorHandle(const ActuatorStateHandle &as, double *cmd)
A handle used to read the state of a single actuator. Currently, position, velocity and effort fields...
void setCommand(double command)
Hardware interface to support commanding an array of actuators.
Base class for handling hardware resources.
double getCommand() const