robot_controllers::JointHandle Class Reference

Base class for a joint handle. This will be implemented for each type of robot. More...

#include <joint_handle.h>

Inheritance diagram for robot_controllers::JointHandle:

Public Member Functions
virtual double	getEffort ()=0
	Get applied effort of a joint in Nm or N. More...
virtual double	getEffortMax ()=0
	Get the maximum effort command. More...
virtual std::string	getName ()=0
	Get the name of this joint. More...
virtual double	getPosition ()=0
	Get the position of the joint in radians or meters. More...
virtual double	getPositionMax ()=0
	Get the maximum valid position command. More...
virtual double	getPositionMin ()=0
	Get the minimum valid position command. More...
virtual double	getVelocity ()=0
	Get the velocity of the joint in rad/sec or meters/sec. More...
virtual double	getVelocityMax ()=0
	Get the maximum velocity command. More...
virtual bool	isContinuous ()=0
	Is this joint continuous (has no position limits). More...
	JointHandle ()
virtual void	reset ()=0
	Reset the command. More...
virtual void	setEffort (double effort)=0
	Set an effort command for this joint. More...
virtual void	setPosition (double position, double velocity, double effort)=0
	Set a position command for this joint. More...
virtual void	setVelocity (double velocity, double effort)=0
	Set a velocity command for this joint. More...
virtual	~JointHandle ()
	Ensure proper cleanup with virtual destructor. More...
Public Member Functions inherited from robot_controllers::Handle
	Handle ()
virtual	~Handle ()
	Ensure proper cleanup with virtual destructor. More...

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 ( )

inlinevirtual

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.

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

• joint_handle.h