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

Inheritance diagram for hardware_interface::PosVelJointHandle:

Public Member Functions
double	getCommandPosition () const

double	getCommandVelocity () const

	PosVelJointHandle ()

	PosVelJointHandle (const JointStateHandle &js, double cmd_pos, double cmd_vel)

void	setCommand (double cmd_pos, double cmd_vel)

void	setCommandPosition (double cmd_pos)

void	setCommandVelocity (double cmd_vel)

Public Member Functions inherited from hardware_interface::JointStateHandle
double	getEffort () const

std::string	getName () const

double	getPosition () const

double	getVelocity () const

	JointStateHandle ()

	JointStateHandle (const std::string &name, const double pos, const double vel, const double *eff)

Detailed Description

A handle used to read and command a single joint.

Definition at line 42 of file posvel_command_interface.h.

Constructor & Destructor Documentation

hardware_interface::PosVelJointHandle::PosVelJointHandle ( )

inline

Definition at line 45 of file posvel_command_interface.h.

hardware_interface::PosVelJointHandle::PosVelJointHandle	(	const JointStateHandle &	js,
		double *	cmd_pos,
		double *	cmd_vel
	)

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

Definition at line 52 of file posvel_command_interface.h.

double hardware_interface::PosVelJointHandle::getCommandPosition ( ) const

inline

Definition at line 74 of file posvel_command_interface.h.

double hardware_interface::PosVelJointHandle::getCommandVelocity ( ) const

inline

Definition at line 75 of file posvel_command_interface.h.

void hardware_interface::PosVelJointHandle::setCommand	(	double	cmd_pos,
		double	cmd_vel
	)

inline

Definition at line 65 of file posvel_command_interface.h.

void hardware_interface::PosVelJointHandle::setCommandPosition ( double cmd_pos )

inline

Definition at line 71 of file posvel_command_interface.h.

void hardware_interface::PosVelJointHandle::setCommandVelocity ( double cmd_vel )

inline

Definition at line 72 of file posvel_command_interface.h.

double* hardware_interface::PosVelJointHandle::cmd_pos_

private

Definition at line 78 of file posvel_command_interface.h.

double* hardware_interface::PosVelJointHandle::cmd_vel_

private

Definition at line 79 of file posvel_command_interface.h.

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