hardware_interface::PosVelAccJointHandle Class Reference

A handle used to read and command a single joint. More...

#include <posvelacc_command_interface.h>

Inheritance diagram for hardware_interface::PosVelAccJointHandle:

List of all members.

Public Member Functions
double	getCommandAcceleration () const
	PosVelAccJointHandle ()
	PosVelAccJointHandle (const JointStateHandle &js, double *cmd_pos, double *cmd_vel, double *cmd_acc)
void	setCommand (double cmd_pos, double cmd_vel, double cmd_acc)
void	setCommandAcceleration (double cmd_acc)
Private Attributes
double *	cmd_acc_

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Detailed Description

A handle used to read and command a single joint.

Definition at line 42 of file posvelacc_command_interface.h.

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Constructor & Destructor Documentation

hardware_interface::PosVelAccJointHandle::PosVelAccJointHandle

(

)

[inline]

Definition at line 45 of file posvelacc_command_interface.h.

hardware_interface::PosVelAccJointHandle::PosVelAccJointHandle	(	const JointStateHandle &	js,
		double *	cmd_pos,
		double *	cmd_vel,
		double *	cmd_acc
	)		[inline]

Parameters:

js	This joint's state handle
cmd_pos	A pointer to the storage for this joint's output command position
cmd_vel	A pointer to the storage for this joint's output command velocity
eff_cmd	A pointer to the storage for this joint's output command acceleration

Definition at line 53 of file posvelacc_command_interface.h.

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Member Function Documentation

double hardware_interface::PosVelAccJointHandle::getCommandAcceleration

(

)

const [inline]

Definition at line 70 of file posvelacc_command_interface.h.

void hardware_interface::PosVelAccJointHandle::setCommand	(	double	cmd_pos,
		double	cmd_vel,
		double	cmd_acc
	)		[inline]

Definition at line 62 of file posvelacc_command_interface.h.

void hardware_interface::PosVelAccJointHandle::setCommandAcceleration

(

double

cmd_acc

)

[inline]

Definition at line 69 of file posvelacc_command_interface.h.

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Member Data Documentation

double* hardware_interface::PosVelAccJointHandle::cmd_acc_ [private]

Definition at line 73 of file posvelacc_command_interface.h.

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

• posvelacc_command_interface.h