A handle used to read the state of a single actuator. Currently, position, velocity and effort fields are required while absolute position and torque sensors are optional.
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#include <actuator_state_interface.h>
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| ActuatorStateHandle ()=default |
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| ActuatorStateHandle (const std::string &name, const double *pos, const double *vel, const double *eff) |
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| ActuatorStateHandle (const std::string &name, const double *pos, const double *vel, const double *eff, const double *absolute_pos, const double *torque_sensor) |
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| ActuatorStateHandle (const std::string &name, const double *pos, const double *vel, const double *eff, const double *absolute_pos) |
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| ActuatorStateHandle (const std::string &name, const double *pos, const double *vel, const double *eff, const double *torque_sensor, bool) |
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double | getAbsolutePosition () const |
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const double * | getAbsolutePositionPtr () const |
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double | getEffort () const |
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const double * | getEffortPtr () const |
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std::string | getName () const |
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double | getPosition () const |
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const double * | getPositionPtr () const |
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double | getTorqueSensor () const |
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const double * | getTorqueSensorPtr () const |
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double | getVelocity () const |
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const double * | getVelocityPtr () const |
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bool | hasAbsolutePosition () const |
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bool | hasTorqueSensor () const |
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A handle used to read the state of a single actuator. Currently, position, velocity and effort fields are required while absolute position and torque sensors are optional.
Definition at line 45 of file actuator_state_interface.h.
◆ ActuatorStateHandle() [1/5]
hardware_interface::ActuatorStateHandle::ActuatorStateHandle |
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◆ ActuatorStateHandle() [2/5]
hardware_interface::ActuatorStateHandle::ActuatorStateHandle |
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const std::string & |
name, |
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const double * |
pos, |
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const double * |
vel, |
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const double * |
eff |
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- Parameters
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name | The name of the actuator |
pos | A pointer to the storage for this actuator's position |
vel | A pointer to the storage for this actuator's velocity |
eff | A pointer to the storage for this actuator's effort (force or torque) |
Definition at line 56 of file actuator_state_interface.h.
◆ ActuatorStateHandle() [3/5]
hardware_interface::ActuatorStateHandle::ActuatorStateHandle |
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const std::string & |
name, |
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const double * |
pos, |
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const double * |
vel, |
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const double * |
eff, |
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const double * |
absolute_pos, |
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const double * |
torque_sensor |
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- Parameters
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name | The name of the actuator |
pos | A pointer to the storage for this actuator's position |
vel | A pointer to the storage for this actuator's velocity |
eff | A pointer to the storage for this actuator's effort (force or torque) |
absolute_pos | A pointer to the storage for this actuator's absolute position encoder |
torque_sensor | A pointer to the storage for this actuator's torque sensor |
Definition at line 81 of file actuator_state_interface.h.
◆ ActuatorStateHandle() [4/5]
hardware_interface::ActuatorStateHandle::ActuatorStateHandle |
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const std::string & |
name, |
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const double * |
pos, |
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const double * |
vel, |
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const double * |
eff, |
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const double * |
absolute_pos |
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) |
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inline |
- Parameters
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name | The name of the actuator |
pos | A pointer to the storage for this actuator's position |
vel | A pointer to the storage for this actuator's velocity |
eff | A pointer to the storage for this actuator's effort (force or torque) |
absolute_pos | A pointer to the storage for this actuator's absolute position encoder |
Definition at line 115 of file actuator_state_interface.h.
◆ ActuatorStateHandle() [5/5]
hardware_interface::ActuatorStateHandle::ActuatorStateHandle |
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const std::string & |
name, |
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const double * |
pos, |
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const double * |
vel, |
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const double * |
eff, |
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const double * |
torque_sensor, |
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bool |
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) |
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inline |
- Parameters
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name | The name of the actuator |
pos | A pointer to the storage for this actuator's position |
vel | A pointer to the storage for this actuator's velocity |
eff | A pointer to the storage for this actuator's effort (force or torque) |
torque_sensor | A pointer to the storage for this actuator's torque sensor |
bool | Dummy parameter to differentiate from absolute encoder constructor |
Definition at line 145 of file actuator_state_interface.h.
◆ getAbsolutePosition()
double hardware_interface::ActuatorStateHandle::getAbsolutePosition |
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◆ getAbsolutePositionPtr()
const double* hardware_interface::ActuatorStateHandle::getAbsolutePositionPtr |
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const |
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◆ getEffort()
double hardware_interface::ActuatorStateHandle::getEffort |
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const |
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◆ getEffortPtr()
const double* hardware_interface::ActuatorStateHandle::getEffortPtr |
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◆ getName()
std::string hardware_interface::ActuatorStateHandle::getName |
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◆ getPosition()
double hardware_interface::ActuatorStateHandle::getPosition |
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const |
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◆ getPositionPtr()
const double* hardware_interface::ActuatorStateHandle::getPositionPtr |
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const |
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◆ getTorqueSensor()
double hardware_interface::ActuatorStateHandle::getTorqueSensor |
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const |
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◆ getTorqueSensorPtr()
const double* hardware_interface::ActuatorStateHandle::getTorqueSensorPtr |
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const |
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◆ getVelocity()
double hardware_interface::ActuatorStateHandle::getVelocity |
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const |
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◆ getVelocityPtr()
const double* hardware_interface::ActuatorStateHandle::getVelocityPtr |
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const |
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◆ hasAbsolutePosition()
bool hardware_interface::ActuatorStateHandle::hasAbsolutePosition |
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const |
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◆ hasTorqueSensor()
bool hardware_interface::ActuatorStateHandle::hasTorqueSensor |
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const |
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◆ absolute_pos_
const double* hardware_interface::ActuatorStateHandle::absolute_pos_ = {nullptr} |
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◆ eff_
const double* hardware_interface::ActuatorStateHandle::eff_ = {nullptr} |
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◆ name_
std::string hardware_interface::ActuatorStateHandle::name_ |
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◆ pos_
const double* hardware_interface::ActuatorStateHandle::pos_ = {nullptr} |
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◆ torque_sensor_
const double* hardware_interface::ActuatorStateHandle::torque_sensor_ = {nullptr} |
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◆ vel_
const double* hardware_interface::ActuatorStateHandle::vel_ = {nullptr} |
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The documentation for this class was generated from the following file: