Handle to read the complete state of a robot. More...

#include <franka_state_interface.h>

Inheritance diagram for franka_hw::FrankaStateHandle:

Public Member Functions
	FrankaStateHandle ()=delete

	FrankaStateHandle (const std::string &name, franka::RobotState &robot_state)
	Creates an instance of a FrankaStateHandle. More...

const std::string &	getName () const noexcept
	Gets the name of the state handle. More...

const franka::RobotState &	getRobotState () const noexcept
	Gets the current robot state. More...

Private Attributes
std::string	name_

const franka::RobotState *	robot_state_

Detailed Description

Handle to read the complete state of a robot.

Definition at line 15 of file franka_state_interface.h.

Constructor & Destructor Documentation

◆ FrankaStateHandle() [1/2]

franka_hw::FrankaStateHandle::FrankaStateHandle ( )

delete

◆ FrankaStateHandle() [2/2]

franka_hw::FrankaStateHandle::FrankaStateHandle	(	const std::string &	name,
		franka::RobotState &	robot_state
	)

inline

Creates an instance of a FrankaStateHandle.

Parameters

[in]	name	The name of the state handle.
[in]	robot_state	A reference to the robot state wrapped by this handle.

Definition at line 25 of file franka_state_interface.h.

Member Function Documentation

◆ getName()

const std::string& franka_hw::FrankaStateHandle::getName ( ) const

inlinenoexcept

Gets the name of the state handle.

Returns: Name of the state handle.

Definition at line 33 of file franka_state_interface.h.

◆ getRobotState()

const franka::RobotState& franka_hw::FrankaStateHandle::getRobotState ( ) const

inlinenoexcept

Gets the current robot state.

Returns: Current robot state.

Definition at line 40 of file franka_state_interface.h.

Member Data Documentation

◆ name_

std::string franka_hw::FrankaStateHandle::name_

private

Definition at line 43 of file franka_state_interface.h.

◆ robot_state_

const franka::RobotState* franka_hw::FrankaStateHandle::robot_state_