Base class for a joint handle. This will be implemented for each type of robot. More...
#include <joint_handle.h>
Public Member Functions | |
| virtual double | getEffort ()=0 |
| Get applied effort of a joint in Nm or N. | |
| virtual double | getEffortMax ()=0 |
| Get the maximum effort command. | |
| virtual std::string | getName ()=0 |
| Get the name of this joint. | |
| virtual double | getPosition ()=0 |
| Get the position of the joint in radians or meters. | |
| virtual double | getPositionMax ()=0 |
| Get the maximum valid position command. | |
| virtual double | getPositionMin ()=0 |
| Get the minimum valid position command. | |
| virtual double | getVelocity ()=0 |
| Get the velocity of the joint in rad/sec or meters/sec. | |
| virtual double | getVelocityMax ()=0 |
| Get the maximum velocity command. | |
| virtual bool | isContinuous ()=0 |
| Is this joint continuous (has no position limits). | |
| JointHandle () | |
| virtual void | reset ()=0 |
| Reset the command. | |
| virtual void | setEffort (double effort)=0 |
| Set an effort command for this joint. | |
| virtual void | setPosition (double position, double velocity, double effort)=0 |
| Set a position command for this joint. | |
| virtual void | setVelocity (double velocity, double effort)=0 |
| Set a velocity command for this joint. | |
| virtual | ~JointHandle () |
| Ensure proper cleanup with virtual destructor. | |
Private Member Functions | |
| JointHandle (const JointHandle &) | |
| JointHandle & | operator= (const JointHandle &) |
Detailed Description
Base class for a joint handle. This will be implemented for each type of robot.
Definition at line 43 of file joint_handle.h.
Constructor & Destructor Documentation
| robot_controllers::JointHandle::JointHandle | ( | ) | [inline] |
Definition at line 46 of file joint_handle.h.
| virtual robot_controllers::JointHandle::~JointHandle | ( | ) | [inline, virtual] |
Ensure proper cleanup with virtual destructor.
Definition at line 51 of file joint_handle.h.
| robot_controllers::JointHandle::JointHandle | ( | const JointHandle & | ) | [private] |
Member Function Documentation
| virtual double robot_controllers::JointHandle::getEffort | ( | ) | [pure virtual] |
Get applied effort of a joint in Nm or N.
| virtual double robot_controllers::JointHandle::getEffortMax | ( | ) | [pure virtual] |
Get the maximum effort command.
| virtual std::string robot_controllers::JointHandle::getName | ( | ) | [pure virtual] |
Get the name of this joint.
Implements robot_controllers::Handle.
| virtual double robot_controllers::JointHandle::getPosition | ( | ) | [pure virtual] |
Get the position of the joint in radians or meters.
| virtual double robot_controllers::JointHandle::getPositionMax | ( | ) | [pure virtual] |
Get the maximum valid position command.
| virtual double robot_controllers::JointHandle::getPositionMin | ( | ) | [pure virtual] |
Get the minimum valid position command.
| virtual double robot_controllers::JointHandle::getVelocity | ( | ) | [pure virtual] |
Get the velocity of the joint in rad/sec or meters/sec.
| virtual double robot_controllers::JointHandle::getVelocityMax | ( | ) | [pure virtual] |
Get the maximum velocity command.
| virtual bool robot_controllers::JointHandle::isContinuous | ( | ) | [pure virtual] |
Is this joint continuous (has no position limits).
| JointHandle& robot_controllers::JointHandle::operator= | ( | const JointHandle & | ) | [private] |
| virtual void robot_controllers::JointHandle::reset | ( | ) | [pure virtual] |
Reset the command.
| virtual void robot_controllers::JointHandle::setEffort | ( | double | effort | ) | [pure virtual] |
Set an effort command for this joint.
- Parameters:
-
effort Effort command in Nm or N.
| virtual void robot_controllers::JointHandle::setPosition | ( | double | position, |
| double | velocity, | ||
| double | effort | ||
| ) | [pure virtual] |
Set a position command for this joint.
- Parameters:
-
position Position command in radians or meters. velocity Velocity command in rad/sec or meters/sec. effort Effort command in Nm or N.
| virtual void robot_controllers::JointHandle::setVelocity | ( | double | velocity, |
| double | effort | ||
| ) | [pure virtual] |
Set a velocity command for this joint.
- Parameters:
-
velocity Velocity command in rad/sec or meters/sec. effort Effort command in Nm or N.
The documentation for this class was generated from the following file: