hardware_interface::PosVelJointHandle Class Reference

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

#include <posvel_command_interface.h>

Inheritance diagram for hardware_interface::PosVelJointHandle:

Public Member Functions
double	getCommandPosition () const
double	getCommandVelocity () const
	PosVelJointHandle ()=default
	PosVelJointHandle (const JointStateHandle &js, double *cmd_pos, double *cmd_vel)
void	setCommand (double cmd_pos, double cmd_vel)
void	setCommandPosition (double cmd_pos)
void	setCommandVelocity (double cmd_vel)
Public Member Functions inherited from hardware_interface::JointStateHandle
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)
	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 *torque_sensor, bool)

Private Attributes
double *	cmd_pos_ = {nullptr}
double *	cmd_vel_ = {nullptr}

Detailed Description

A handle used to read and command a single joint.

Definition at line 42 of file posvel_command_interface.h.

Constructor & Destructor Documentation

PosVelJointHandle() [1/2]

hardware_interface::PosVelJointHandle::PosVelJointHandle ( )

default

PosVelJointHandle() [2/2]

hardware_interface::PosVelJointHandle::PosVelJointHandle ( const JointStateHandle &  js, double *  cmd_pos, double *  cmd_vel  )

inline

Parameters

js	This joint's state handle
cmd_pos	A pointer to the storage for this joint's output command position
cmd_vel	A pointer to the storage for this joint's output command velocity

Definition at line 52 of file posvel_command_interface.h.

Member Function Documentation

getCommandPosition()

double hardware_interface::PosVelJointHandle::getCommandPosition ( ) const

inline

Definition at line 74 of file posvel_command_interface.h.

getCommandVelocity()

double hardware_interface::PosVelJointHandle::getCommandVelocity ( ) const

inline

Definition at line 75 of file posvel_command_interface.h.

setCommand()

void hardware_interface::PosVelJointHandle::setCommand ( double  cmd_pos, double  cmd_vel  )

inline

Definition at line 65 of file posvel_command_interface.h.

setCommandPosition()

void hardware_interface::PosVelJointHandle::setCommandPosition ( double  cmd_pos )

inline

Definition at line 71 of file posvel_command_interface.h.

setCommandVelocity()

void hardware_interface::PosVelJointHandle::setCommandVelocity ( double  cmd_vel )

inline

Definition at line 72 of file posvel_command_interface.h.

Member Data Documentation

cmd_pos_

double* hardware_interface::PosVelJointHandle::cmd_pos_ = {nullptr}

private

Definition at line 78 of file posvel_command_interface.h.

cmd_vel_

double* hardware_interface::PosVelJointHandle::cmd_vel_ = {nullptr}

private

Definition at line 79 of file posvel_command_interface.h.

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

• posvel_command_interface.h