#include <actuator_state_interface.h>
Public Member Functions | |
ActuatorStateHandle () | |
ActuatorStateHandle (const std::string &name, const double *pos, const double *vel, const double *eff) | |
double | getEffort () const |
const double * | getEffortPtr () const |
std::string | getName () const |
double | getPosition () const |
const double * | getPositionPtr () const |
double | getVelocity () const |
const double * | getVelocityPtr () const |
Private Attributes | |
const double * | eff_ |
std::string | name_ |
const double * | pos_ |
const double * | vel_ |
A handle used to read the state of a single actuator.
Definition at line 41 of file actuator_state_interface.h.
Definition at line 44 of file actuator_state_interface.h.
hardware_interface::ActuatorStateHandle::ActuatorStateHandle | ( | const std::string & | name, |
const double * | pos, | ||
const double * | vel, | ||
const double * | eff | ||
) | [inline] |
name | The name of the actuator |
pos | A pointer to the storage for this actuator's position |
vel | A pointer to the storage for this actuator's velocity |
eff | A pointer to the storage for this actuator's effort (force or torque) |
Definition at line 52 of file actuator_state_interface.h.
double hardware_interface::ActuatorStateHandle::getEffort | ( | ) | const [inline] |
Definition at line 72 of file actuator_state_interface.h.
const double* hardware_interface::ActuatorStateHandle::getEffortPtr | ( | ) | const [inline] |
Definition at line 76 of file actuator_state_interface.h.
std::string hardware_interface::ActuatorStateHandle::getName | ( | ) | const [inline] |
Definition at line 69 of file actuator_state_interface.h.
double hardware_interface::ActuatorStateHandle::getPosition | ( | ) | const [inline] |
Definition at line 70 of file actuator_state_interface.h.
const double* hardware_interface::ActuatorStateHandle::getPositionPtr | ( | ) | const [inline] |
Definition at line 74 of file actuator_state_interface.h.
double hardware_interface::ActuatorStateHandle::getVelocity | ( | ) | const [inline] |
Definition at line 71 of file actuator_state_interface.h.
const double* hardware_interface::ActuatorStateHandle::getVelocityPtr | ( | ) | const [inline] |
Definition at line 75 of file actuator_state_interface.h.
const double* hardware_interface::ActuatorStateHandle::eff_ [private] |
Definition at line 82 of file actuator_state_interface.h.
std::string hardware_interface::ActuatorStateHandle::name_ [private] |
Definition at line 79 of file actuator_state_interface.h.
const double* hardware_interface::ActuatorStateHandle::pos_ [private] |
Definition at line 80 of file actuator_state_interface.h.
const double* hardware_interface::ActuatorStateHandle::vel_ [private] |
Definition at line 81 of file actuator_state_interface.h.