Class Actuator

• Defined in File actuator.hpp

Class Documentation

class Actuator

Public Functions

Actuator() = default

explicit HARDWARE_INTERFACE_PUBLIC Actuator(std::unique_ptr<ActuatorInterface> impl)

explicit HARDWARE_INTERFACE_PUBLIC Actuator(Actuator &&other) noexcept

~Actuator() = default

HARDWARE_INTERFACE_PUBLIC const rclcpp_lifecycle::State & initialize (const HardwareInfo &actuator_info, rclcpp::Logger logger, rclcpp::node_interfaces::NodeClockInterface::SharedPtr clock_interface)

HARDWARE_INTERFACE_PUBLIC const rclcpp_lifecycle::State & configure ()

HARDWARE_INTERFACE_PUBLIC const rclcpp_lifecycle::State & cleanup ()

HARDWARE_INTERFACE_PUBLIC const rclcpp_lifecycle::State & shutdown ()

HARDWARE_INTERFACE_PUBLIC const rclcpp_lifecycle::State & activate ()

HARDWARE_INTERFACE_PUBLIC const rclcpp_lifecycle::State & deactivate ()

HARDWARE_INTERFACE_PUBLIC const rclcpp_lifecycle::State & error ()

HARDWARE_INTERFACE_PUBLIC std::vector< StateInterface::ConstSharedPtr > export_state_interfaces ()

HARDWARE_INTERFACE_PUBLIC std::vector< CommandInterface::SharedPtr > export_command_interfaces ()

HARDWARE_INTERFACE_PUBLIC return_type prepare_command_mode_switch (const std::vector< std::string > &start_interfaces, const std::vector< std::string > &stop_interfaces)

HARDWARE_INTERFACE_PUBLIC return_type perform_command_mode_switch (const std::vector< std::string > &start_interfaces, const std::vector< std::string > &stop_interfaces)

HARDWARE_INTERFACE_PUBLIC std::string get_name () const

HARDWARE_INTERFACE_PUBLIC std::string get_group_name () const

HARDWARE_INTERFACE_PUBLIC const rclcpp_lifecycle::State & get_lifecycle_state () const

HARDWARE_INTERFACE_PUBLIC return_type read (const rclcpp::Time &time, const rclcpp::Duration &period)

HARDWARE_INTERFACE_PUBLIC return_type write (const rclcpp::Time &time, const rclcpp::Duration &period)