Hardware interface to support commanding an array of actuators. More...
#include <actuator_command_interface.h>
Additional Inherited Members | |
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typedef ActuatorHandle | ResourceHandleType |
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typedef ResourceManager< ActuatorHandle > | resource_manager_type |
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ActuatorHandle | getHandle (const std::string &name) |
Get a resource handle by name. More... | |
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virtual | ~HardwareInterface ()=default |
virtual void | claim (std::string resource) |
Claim a resource by name. More... | |
void | clearClaims () |
Clear the resources this interface is claiming. More... | |
std::set< std::string > | getClaims () const |
Get the list of resources this interface is currently claiming. More... | |
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std::vector< std::string > | getNames () const |
void | registerHandle (const ActuatorHandle &handle) |
Register a new resource. If the resource name already exists, the previously stored resource value will be replaced with val. More... | |
ActuatorHandle | getHandle (const std::string &name) |
Get a resource handle by name. More... | |
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virtual | ~ResourceManagerBase ()=default |
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static void | concatManagers (std::vector< resource_manager_type * > &managers, resource_manager_type *result) |
Combine a list of interfaces into one. More... | |
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typedef std::map< std::string, ActuatorHandle > | ResourceMap |
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ResourceMap | resource_map_ |
Hardware interface to support commanding an array of actuators.
This HardwareInterface supports commanding the output of an array of named actuators. Note that these commands can have any semantic meaning as long as they each can be represented by a single double, they are not necessarily effort commands. To specify a meaning to this command, see the derived classes like EffortActuatorInterface etc.
Definition at line 76 of file actuator_command_interface.h.