Public Member Functions | Public Attributes | List of all members
pr2_hardware_interface::Actuator Class Reference

#include <hardware_interface.h>

Public Member Functions

 Actuator ()
 Actuator (std::string name)

Public Attributes

ActuatorCommand command_
std::string name_
ActuatorState state_

Detailed Description

The Actuator class provides an interface for the PR2's motor controller board (MCB). The MCB is connected to a motor, encoder, and optional calibration sensor.

The ActuatorCommand class is used to enable the motor and set the commanded efforts of the motor (in Nm).

The ActuatorState class reports back on the state of the motor, encoder, and calibration sensor.

Definition at line 179 of file hardware_interface.h.

Constructor & Destructor Documentation

◆ Actuator() [1/2]

pr2_hardware_interface::Actuator::Actuator ( )

Definition at line 182 of file hardware_interface.h.

◆ Actuator() [2/2]

pr2_hardware_interface::Actuator::Actuator ( std::string  name)

Definition at line 183 of file hardware_interface.h.

Member Data Documentation

◆ command_

ActuatorCommand pr2_hardware_interface::Actuator::command_

Definition at line 186 of file hardware_interface.h.

◆ name_

std::string pr2_hardware_interface::Actuator::name_

Definition at line 184 of file hardware_interface.h.

◆ state_

ActuatorState pr2_hardware_interface::Actuator::state_

Definition at line 185 of file hardware_interface.h.

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

Author(s): Eric Berger
autogenerated on Mon Mar 6 2023 03:49:16