ros_ethercat_model::ActuatorState Class Reference

#include <hardware_interface.hpp>

List of all members.

Public Member Functions
	ActuatorState ()
Public Attributes
int	device_id_
	Position in EtherCAT chain.
double	last_commanded_current_
	Current computed based on effort specified in ActuatorCommand (in amps)
double	last_commanded_effort_
	The torque requested in the previous ActuatorCommand (in Nm)
double	last_measured_current_
	The measured current (in amps)
double	last_measured_effort_
	The measured torque (in Nm)
double	max_effort_
	Absolute torque limit for actuator (derived from motor current limit). (in Nm)
double	motor_voltage_
	Motor voltage (in volts)
double	position_
	The position of the motor (in radians)
double	velocity_
	The velocity in radians per second.

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Detailed Description

Definition at line 46 of file hardware_interface.hpp.

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Constructor & Destructor Documentation

ros_ethercat_model::ActuatorState::ActuatorState

(

)

[inline]

Definition at line 49 of file hardware_interface.hpp.

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Member Data Documentation

int ros_ethercat_model::ActuatorState::device_id_

Position in EtherCAT chain.

Definition at line 62 of file hardware_interface.hpp.

double ros_ethercat_model::ActuatorState::last_commanded_current_

Current computed based on effort specified in ActuatorCommand (in amps)

Definition at line 67 of file hardware_interface.hpp.

double ros_ethercat_model::ActuatorState::last_commanded_effort_

The torque requested in the previous ActuatorCommand (in Nm)

Definition at line 70 of file hardware_interface.hpp.

double ros_ethercat_model::ActuatorState::last_measured_current_

The measured current (in amps)

Definition at line 68 of file hardware_interface.hpp.

double ros_ethercat_model::ActuatorState::last_measured_effort_

The measured torque (in Nm)

Definition at line 71 of file hardware_interface.hpp.

double ros_ethercat_model::ActuatorState::max_effort_

Absolute torque limit for actuator (derived from motor current limit). (in Nm)

Definition at line 73 of file hardware_interface.hpp.

double ros_ethercat_model::ActuatorState::motor_voltage_

Motor voltage (in volts)

Definition at line 75 of file hardware_interface.hpp.

double ros_ethercat_model::ActuatorState::position_

The position of the motor (in radians)

Definition at line 64 of file hardware_interface.hpp.

double ros_ethercat_model::ActuatorState::velocity_

The velocity in radians per second.

Definition at line 65 of file hardware_interface.hpp.

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

• hardware_interface.hpp