Hardware interface to support commanding an array of joints. More...
#include <scaled_joint_command_interface.h>
Inheritance diagram for ur_controllers::ScaledJointCommandInterface:
Additional Inherited Members | |
 Public Types inherited from hardware_interface::HardwareResourceManager< ScaledJointHandle, hardware_interface::ClaimResources > | |
| typedef ScaledJointHandle | ResourceHandleType |
| Public Types inherited from hardware_interface::ResourceManager< ResourceHandle > | |
| typedef ResourceManager< ResourceHandle > | resource_manager_type |
| Public Member Functions inherited from hardware_interface::HardwareResourceManager< ScaledJointHandle, hardware_interface::ClaimResources > | |
| ScaledJointHandle | getHandle (const std::string &name) |
| ScaledJointHandle | getHandle (const std::string &name) |
| Public Member Functions inherited from hardware_interface::HardwareInterface | |
| virtual void | claim (std::string resource) |
| virtual void | claim (std::string resource) |
| void | clearClaims () |
| void | clearClaims () |
| std::set< std::string > | getClaims () const |
| std::set< std::string > | getClaims () const |
| virtual | ~HardwareInterface ()=default |
| Public Member Functions inherited from hardware_interface::ResourceManager< ResourceHandle > | |
| ResourceHandle | getHandle (const std::string &name) |
| std::vector< std::string > | getNames () const |
| void | registerHandle (const ResourceHandle &handle) |
| Public Member Functions inherited from hardware_interface::ResourceManagerBase | |
| virtual | ~ResourceManagerBase ()=default |
| Static Public Member Functions inherited from hardware_interface::ResourceManager< ResourceHandle > | |
| static void | concatManagers (std::vector< resource_manager_type * > &managers, resource_manager_type *result) |
| Protected Types inherited from hardware_interface::ResourceManager< ResourceHandle > | |
| typedef std::map< std::string, ResourceHandle > | ResourceMap |
| Protected Attributes inherited from hardware_interface::ResourceManager< ResourceHandle > | |
| ResourceMap | resource_map_ |
Detailed Description
Hardware interface to support commanding an array of joints.
This HardwareInterface supports commanding the output of an array of named joints. 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 EffortJointInterface etc.
These interfaces provide an additional scaling factor implemented, e.g. by a robot's speed slider.
- Note
- Getting a joint handle through the getHandle() method will claim that resource.
Definition at line 106 of file scaled_joint_command_interface.h.
The documentation for this class was generated from the following file: