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

#include <position_velocity_torque_gains_command_interface.h>

Inheritance diagram for hardware_interface::PositionVelocityTorqueGainsJointHandle:

Public Member Functions
double	getCommandEffort () const

double	getCommandKd () const

double	getCommandKp () const

	PositionVelocityTorqueGainsJointHandle ()=default

	PositionVelocityTorqueGainsJointHandle (const JointStateHandle &js, double cmd_pos, double cmd_vel, double cmd_eff, double cmd_kp, double *cmd_kd)

void	setCommand (double cmd_pos, double cmd_vel, double cmd_eff, double cmd_kp, double cmd_kd)

void	setCommandEffort (double cmd_eff)

void	setCommandKd (double cmd_kd)

void	setCommandKp (double cmd_kp)

Public Member Functions inherited from hardware_interface::PosVelJointHandle
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_eff_ = {nullptr}

double *	cmd_kd_ = {nullptr}

double *	cmd_kp_ = {nullptr}

Detailed Description

A handle used to read and command a single joint.

Definition at line 42 of file position_velocity_torque_gains_command_interface.h.

Constructor & Destructor Documentation

◆ PositionVelocityTorqueGainsJointHandle() [1/2]

hardware_interface::PositionVelocityTorqueGainsJointHandle::PositionVelocityTorqueGainsJointHandle ( )

default

◆ PositionVelocityTorqueGainsJointHandle() [2/2]

hardware_interface::PositionVelocityTorqueGainsJointHandle::PositionVelocityTorqueGainsJointHandle	(	const JointStateHandle &	js,
		double *	cmd_pos,
		double *	cmd_vel,
		double *	cmd_eff,
		double *	cmd_kp,
		double *	cmd_kd
	)

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
cmd_eff	A pointer to the storage for this joint's output command feed-forward torque
cmd_kp	A pointer to the storage for this joint's position tracking gain
cmd_kd	A pointer to the storage for this joint's velocity tracking gain

Definition at line 55 of file position_velocity_torque_gains_command_interface.h.

Member Function Documentation

◆ getCommandEffort()

double hardware_interface::PositionVelocityTorqueGainsJointHandle::getCommandEffort ( ) const

inline

Definition at line 84 of file position_velocity_torque_gains_command_interface.h.

◆ getCommandKd()

double hardware_interface::PositionVelocityTorqueGainsJointHandle::getCommandKd ( ) const

inline

Definition at line 90 of file position_velocity_torque_gains_command_interface.h.

◆ getCommandKp()

double hardware_interface::PositionVelocityTorqueGainsJointHandle::getCommandKp ( ) const

inline

Definition at line 87 of file position_velocity_torque_gains_command_interface.h.

◆ setCommand()

void hardware_interface::PositionVelocityTorqueGainsJointHandle::setCommand	(	double	cmd_pos,
		double	cmd_vel,
		double	cmd_eff,
		double	cmd_kp,
		double	cmd_kd
	)