#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 ( )

inline

Definition at line 182 of file hardware_interface.h.

◆ Actuator() [2/2]

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

inline

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:

hardware_interface.h

Public Member Functions

Public Attributes