hardware_interface::ActuatorHandle Class Reference

A handle used to read and command a single actuator. More...

#include <actuator_command_interface.h>

Inheritance diagram for hardware_interface::ActuatorHandle:

Public Member Functions
	ActuatorHandle ()=default
	ActuatorHandle (const ActuatorStateHandle &as, double *cmd)
double	getCommand () const
double *	getCommandPtr ()
void	setCommand (double command)
Public Member Functions inherited from hardware_interface::ActuatorStateHandle
	ActuatorStateHandle ()=default
	ActuatorStateHandle (const std::string &name, const double *pos, const double *vel, const double *eff)
	ActuatorStateHandle (const std::string &name, const double *pos, const double *vel, const double *eff, const double *absolute_pos)
	ActuatorStateHandle (const std::string &name, const double *pos, const double *vel, const double *eff, const double *absolute_pos, const double *torque_sensor)
	ActuatorStateHandle (const std::string &name, const double *pos, const double *vel, const double *eff, const double *torque_sensor, bool)
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

Private Attributes
double *	cmd_ = {nullptr}

Detailed Description

A handle used to read and command a single actuator.

Definition at line 40 of file actuator_command_interface.h.

Constructor & Destructor Documentation

ActuatorHandle() [1/2]

hardware_interface::ActuatorHandle::ActuatorHandle ( )

default

ActuatorHandle() [2/2]

hardware_interface::ActuatorHandle::ActuatorHandle ( const ActuatorStateHandle &  as, double *  cmd  )

inline

Parameters

as	This actuator's state handle
cmd	A pointer to the storage for this actuator's output command

Definition at line 49 of file actuator_command_interface.h.

Member Function Documentation

getCommand()

double hardware_interface::ActuatorHandle::getCommand ( ) const

inline

Definition at line 59 of file actuator_command_interface.h.

getCommandPtr()

double* hardware_interface::ActuatorHandle::getCommandPtr ( )

inline

Definition at line 61 of file actuator_command_interface.h.

setCommand()

void hardware_interface::ActuatorHandle::setCommand ( double  command )

inline

Definition at line 58 of file actuator_command_interface.h.

Member Data Documentation

cmd_

double* hardware_interface::ActuatorHandle::cmd_ = {nullptr}

private

Definition at line 64 of file actuator_command_interface.h.

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

• actuator_command_interface.h