Hardware interface to support commanding an array of joints. More...
#include <joint_command_interface.h>
Additional Inherited Members | |
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typedef JointHandle | ResourceHandleType |
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typedef ResourceManager< JointHandle > | resource_manager_type |
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JointHandle | getHandle (const std::string &name) |
Get a resource handle by name. More... | |
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virtual | ~HardwareInterface ()=default |
virtual void | claim (std::string resource) |
Claim a resource by name. More... | |
void | clearClaims () |
Clear the resources this interface is claiming. More... | |
std::set< std::string > | getClaims () const |
Get the list of resources this interface is currently claiming. More... | |
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std::vector< std::string > | getNames () const |
void | registerHandle (const JointHandle &handle) |
Register a new resource. If the resource name already exists, the previously stored resource value will be replaced with val. More... | |
JointHandle | getHandle (const std::string &name) |
Get a resource handle by name. More... | |
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virtual | ~ResourceManagerBase ()=default |
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static void | concatManagers (std::vector< resource_manager_type * > &managers, resource_manager_type *result) |
Combine a list of interfaces into one. More... | |
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typedef std::map< std::string, JointHandle > | ResourceMap |
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ResourceMap | resource_map_ |
Hardware interface to support commanding an array of joints.
This HardwareInterface supports commanding the output of an array of named joints. Note that these commands can have any semantic meaning as long as they each can be represented by a single double, they are not necessarily effort commands. To specify a meaning to this command, see the derived classes like EffortJointInterface etc.
Definition at line 79 of file joint_command_interface.h.