Public Member Functions | Private Attributes | List of all members
hardware_interface::ActuatorHandle Class Reference

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

#include <actuator_command_interface.h>

Inheritance diagram for hardware_interface::ActuatorHandle:
Inheritance graph
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Public Member Functions

 ActuatorHandle ()
 
 ActuatorHandle (const ActuatorStateHandle &as, double *cmd)
 
double getCommand () const
 
double * getCommandPtr ()
 
void setCommand (double command)
 
- Public Member Functions inherited from hardware_interface::ActuatorStateHandle
 ActuatorStateHandle ()
 
 ActuatorStateHandle (const std::string &name, const double *pos, const double *vel, const double *eff)
 
 ActuatorStateHandle (const std::string &name, const double *pos, const double *vel, const double *eff, const double *absolute_pos, const double *torque_sensor)
 
 ActuatorStateHandle (const std::string &name, const double *pos, const double *vel, const double *eff, const double *absolute_pos)
 
 ActuatorStateHandle (const std::string &name, const double *pos, const double *vel, const double *eff, const double *torque_sensor, bool)
 
double getAbsolutePosition () const
 
const double * getAbsolutePositionPtr () const
 
double getEffort () const
 
const double * getEffortPtr () const
 
std::string getName () const
 
double getPosition () const
 
const double * getPositionPtr () const
 
double getTorqueSensor () const
 
const double * getTorqueSensorPtr () const
 
double getVelocity () const
 
const double * getVelocityPtr () const
 
bool hasAbsolutePosition () const
 
bool hasTorqueSensor () const
 

Private Attributes

double * cmd_ = {nullptr}
 

Detailed Description

A handle used to read and command a single actuator.

Definition at line 40 of file actuator_command_interface.h.

Constructor & Destructor Documentation

◆ ActuatorHandle() [1/2]

hardware_interface::ActuatorHandle::ActuatorHandle ( )
inline

Definition at line 43 of file actuator_command_interface.h.

◆ ActuatorHandle() [2/2]

hardware_interface::ActuatorHandle::ActuatorHandle ( const ActuatorStateHandle as,
double *  cmd 
)
inline
Parameters
asThis actuator's state handle
cmdA pointer to the storage for this actuator's output command

Definition at line 49 of file actuator_command_interface.h.

Member Function Documentation

◆ getCommand()

double hardware_interface::ActuatorHandle::getCommand ( ) const
inline

Definition at line 59 of file actuator_command_interface.h.

◆ getCommandPtr()

double* hardware_interface::ActuatorHandle::getCommandPtr ( )
inline

Definition at line 61 of file actuator_command_interface.h.

◆ setCommand()

void hardware_interface::ActuatorHandle::setCommand ( double  command)
inline

Definition at line 58 of file actuator_command_interface.h.

Member Data Documentation

◆ cmd_

double* hardware_interface::ActuatorHandle::cmd_ = {nullptr}
private

Definition at line 64 of file actuator_command_interface.h.


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


hardware_interface
Author(s): Wim Meeussen, Adolfo Rodriguez Tsouroukdissian
autogenerated on Tue Apr 7 2020 03:16:25