hebi::Command::Actuator Class Reference

Actuator-specific commands. More...

#include <command.hpp>

Public Member Functions
	Actuator (HebiCommandRef &internal)
FloatField &	effort ()
	Effort at the module output; units vary (e.g., N * m for rotational joints and N for linear stages). More...
const FloatField &	effort () const
	Effort at the module output; units vary (e.g., N * m for rotational joints and N for linear stages). More...
HighResAngleField &	position ()
	Position of the module output (post-spring), in radians. More...
const HighResAngleField &	position () const
	Position of the module output (post-spring), in radians. More...
FloatField &	velocity ()
	Velocity of the module output (post-spring), in radians/second. More...
const FloatField &	velocity () const
	Velocity of the module output (post-spring), in radians/second. More...

Private Attributes
FloatField	effort_
const HebiCommandRef &	internal_
HighResAngleField	position_
FloatField	velocity_

Detailed Description

Actuator-specific commands.

Definition at line 702 of file command.hpp.

Constructor & Destructor Documentation

Actuator()

hebi::Command::Actuator::Actuator ( HebiCommandRef &  internal )

inline

Definition at line 705 of file command.hpp.

Member Function Documentation

effort() [1/2]

FloatField& hebi::Command::Actuator::effort ( )

inline

Effort at the module output; units vary (e.g., N * m for rotational joints and N for linear stages).

Definition at line 722 of file command.hpp.

effort() [2/2]

const FloatField& hebi::Command::Actuator::effort ( ) const

inline

Effort at the module output; units vary (e.g., N * m for rotational joints and N for linear stages).

Definition at line 724 of file command.hpp.

position() [1/2]

HighResAngleField& hebi::Command::Actuator::position ( )

inline

Position of the module output (post-spring), in radians.

Definition at line 726 of file command.hpp.

position() [2/2]

const HighResAngleField& hebi::Command::Actuator::position ( ) const

inline

Position of the module output (post-spring), in radians.

Definition at line 728 of file command.hpp.

velocity() [1/2]

FloatField& hebi::Command::Actuator::velocity ( )

inline

Velocity of the module output (post-spring), in radians/second.

Definition at line 718 of file command.hpp.

velocity() [2/2]

const FloatField& hebi::Command::Actuator::velocity ( ) const

inline

Velocity of the module output (post-spring), in radians/second.

Definition at line 720 of file command.hpp.

Member Data Documentation

effort_

FloatField hebi::Command::Actuator::effort_

private

Definition at line 735 of file command.hpp.

internal_

const HebiCommandRef& hebi::Command::Actuator::internal_

private

Definition at line 732 of file command.hpp.

position_

HighResAngleField hebi::Command::Actuator::position_

private

Definition at line 736 of file command.hpp.

velocity_

FloatField hebi::Command::Actuator::velocity_

private

Definition at line 734 of file command.hpp.

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

• command.hpp