A handle used to read the state of a single joint. Currently, position, velocity and effort fields are required while absolute position and torque sensors are optional. More...

#include <joint_state_interface.h>

Inheritance diagram for hardware_interface::JointStateHandle:

[legend]

Public Member Functions
double	getAbsolutePosition () const

const double *	getAbsolutePositionPtr () const

double	getEffort () const

const double *	getEffortPtr () const

std::string	getName () const

double	getPosition () const

const double *	getPositionPtr () const

double	getTorqueSensor () const

const double *	getTorqueSensorPtr () const

double	getVelocity () const

const double *	getVelocityPtr () const

bool	hasAbsolutePosition () const

bool	hasTorqueSensor () const

	JointStateHandle ()=default

	JointStateHandle (const std::string &name, const double pos, const double vel, const double *eff)

	JointStateHandle (const std::string &name, const double pos, const double vel, const double eff, const double absolute_pos, const double *torque_sensor)

	JointStateHandle (const std::string &name, const double pos, const double vel, const double eff, const double absolute_pos)

	JointStateHandle (const std::string &name, const double pos, const double vel, const double eff, const double torque_sensor, bool)

Private Attributes
const double *	absolute_pos_ = {nullptr}

const double *	eff_ = {nullptr}

std::string	name_

const double *	pos_ = {nullptr}

const double *	torque_sensor_ = {nullptr}

const double *	vel_ = {nullptr}

Detailed Description

A handle used to read the state of a single joint. Currently, position, velocity and effort fields are required while absolute position and torque sensors are optional.

Definition at line 45 of file joint_state_interface.h.

Constructor & Destructor Documentation

◆ JointStateHandle() [1/5]

hardware_interface::JointStateHandle::JointStateHandle ( )

default

◆ JointStateHandle() [2/5]

hardware_interface::JointStateHandle::JointStateHandle	(	const std::string &	name,
		const double *	pos,
		const double *	vel,
		const double *	eff
	)

inline

Parameters

name	The name of the joint
pos	A pointer to the storage for this joint's position
vel	A pointer to the storage for this joint's velocity
eff	A pointer to the storage for this joint's effort (force or torque)

Definition at line 56 of file joint_state_interface.h.

◆ JointStateHandle() [3/5]

hardware_interface::JointStateHandle::JointStateHandle	(	const std::string &	name,
		const double *	pos,
		const double *	vel,
		const double *	eff,
		const double *	absolute_pos,
		const double *	torque_sensor
	)

inline

Parameters

name	The name of the joint
pos	A pointer to the storage for this joint's position
vel	A pointer to the storage for this joint's velocity
eff	A pointer to the storage for this joint's effort (force or torque)
absolute_pos	A pointer to the storage for this joint's absolute position encoder
torque_sensor	A pointer to the storage for this joint's torque sensor

Definition at line 81 of file joint_state_interface.h.

◆ JointStateHandle() [4/5]

hardware_interface::JointStateHandle::JointStateHandle	(	const std::string &	name,
		const double *	pos,
		const double *	vel,
		const double *	eff,
		const double *	absolute_pos
	)

inline

Parameters

name	The name of the joint
pos	A pointer to the storage for this joint's position
vel	A pointer to the storage for this joint's velocity
eff	A pointer to the storage for this joint's effort (force or torque)
absolute_pos	A pointer to the storage for this joint's absolute position encoder

Definition at line 114 of file joint_state_interface.h.

◆ JointStateHandle() [5/5]

hardware_interface::JointStateHandle::JointStateHandle	(	const std::string &	name,
		const double *	pos,
		const double *	vel,
		const double *	eff,
		const double *	torque_sensor,
		bool
	)

inline

Parameters

name	The name of the joint
pos	A pointer to the storage for this joint's position
vel	A pointer to the storage for this joint's velocity
eff	A pointer to the storage for this joint's effort (force or torque)
torque_sensor	A pointer to the storage for this joint's torque sensor
bool	Dummy parameter to differentiate from absolute encoder constructor

Definition at line 144 of file joint_state_interface.h.

Member Function Documentation

◆ getAbsolutePosition()

double hardware_interface::JointStateHandle::getAbsolutePosition ( ) const

inline

Definition at line 171 of file joint_state_interface.h.

◆ getAbsolutePositionPtr()

const double* hardware_interface::JointStateHandle::getAbsolutePositionPtr ( ) const

inline

Definition at line 193 of file joint_state_interface.h.

◆ getEffort()

double hardware_interface::JointStateHandle::getEffort ( ) const

inline

Definition at line 169 of file joint_state_interface.h.

◆ getEffortPtr()

const double* hardware_interface::JointStateHandle::getEffortPtr ( ) const

inline

Definition at line 191 of file joint_state_interface.h.

◆ getName()

std::string hardware_interface::JointStateHandle::getName ( ) const

inline

Definition at line 166 of file joint_state_interface.h.

◆ getPosition()

double hardware_interface::JointStateHandle::getPosition ( ) const

inline

Definition at line 167 of file joint_state_interface.h.

◆ getPositionPtr()

const double* hardware_interface::JointStateHandle::getPositionPtr ( ) const

inline

Definition at line 189 of file joint_state_interface.h.

◆ getTorqueSensor()

double hardware_interface::JointStateHandle::getTorqueSensor ( ) const

inline

Definition at line 180 of file joint_state_interface.h.

◆ getTorqueSensorPtr()

const double* hardware_interface::JointStateHandle::getTorqueSensorPtr ( ) const

inline

Definition at line 202 of file joint_state_interface.h.

◆ getVelocity()

double hardware_interface::JointStateHandle::getVelocity ( ) const

inline

Definition at line 168 of file joint_state_interface.h.

◆ getVelocityPtr()

const double* hardware_interface::JointStateHandle::getVelocityPtr ( ) const

inline

Definition at line 190 of file joint_state_interface.h.

◆ hasAbsolutePosition()

bool hardware_interface::JointStateHandle::hasAbsolutePosition ( ) const

inline

Definition at line 211 of file joint_state_interface.h.

◆ hasTorqueSensor()

bool hardware_interface::JointStateHandle::hasTorqueSensor ( ) const

inline

Definition at line 212 of file joint_state_interface.h.

Member Data Documentation

◆ absolute_pos_

const double* hardware_interface::JointStateHandle::absolute_pos_ = {nullptr}

private

Definition at line 219 of file joint_state_interface.h.

◆ eff_

const double* hardware_interface::JointStateHandle::eff_ = {nullptr}

private

Definition at line 218 of file joint_state_interface.h.

◆ name_

std::string hardware_interface::JointStateHandle::name_

private

Definition at line 215 of file joint_state_interface.h.

◆ pos_

const double* hardware_interface::JointStateHandle::pos_ = {nullptr}

private

Definition at line 216 of file joint_state_interface.h.

◆ torque_sensor_

const double* hardware_interface::JointStateHandle::torque_sensor_ = {nullptr}

private

Definition at line 220 of file joint_state_interface.h.

◆ vel_

const double* hardware_interface::JointStateHandle::vel_ = {nullptr}

private

Definition at line 217 of file joint_state_interface.h.

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

joint_state_interface.h

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ JointStateHandle() [1/5]

◆ JointStateHandle() [2/5]

◆ JointStateHandle() [3/5]

◆ JointStateHandle() [4/5]

◆ JointStateHandle() [5/5]

Member Function Documentation

◆ getAbsolutePosition()

◆ getAbsolutePositionPtr()

◆ getEffort()

◆ getEffortPtr()

◆ getName()

◆ getPosition()

◆ getPositionPtr()

◆ getTorqueSensor()

◆ getTorqueSensorPtr()

◆ getVelocity()

◆ getVelocityPtr()

◆ hasAbsolutePosition()

◆ hasTorqueSensor()

Member Data Documentation

◆ absolute_pos_

◆ eff_

◆ name_

◆ pos_

◆ torque_sensor_

◆ vel_