Struct InterfaceInfo

Defined in File hardware_info.hpp

Struct Documentation

struct InterfaceInfo

This structure stores information about components defined for a specific hardware in robot’s URDF.

Public Members

std::string name: Name of the command interfaces that can be set, e.g. “position”, “velocity”, etc. Used by joints and GPIOs.

std::string min: (Optional) Minimal allowed values of the interface.

std::string max: (Optional) Maximal allowed values of the interface.

std::string initial_value: (Optional) Initial value of the interface.

std::string data_type: (Optional) The datatype of the interface, e.g. “bool”, “int”. Used by GPIOs.

int size: (Optional) If the handle is an array, the size of the array. Used by GPIOs.