franka_state_interface.h
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1 // Copyright (c) 2017 Franka Emika GmbH
2 // Use of this source code is governed by the Apache-2.0 license, see LICENSE
3 #pragma once
4 
5 #include <string>
6 
7 #include <franka/robot_state.h>
9 
10 namespace franka_hw {
11 
16  public:
17  FrankaStateHandle() = delete;
18 
25  FrankaStateHandle(const std::string& name, franka::RobotState& robot_state)
26  : name_(name), robot_state_(&robot_state) {}
27 
33  const std::string& getName() const noexcept { return name_; }
34 
40  const franka::RobotState& getRobotState() const noexcept { return *robot_state_; }
41 
42  private:
43  std::string name_;
44  const franka::RobotState* robot_state_;
45 };
46 
53 };
54 
55 } // namespace franka_hw
franka_hw::FrankaStateHandle::name_
std::string name_
Definition: franka_state_interface.h:43
franka_hw::FrankaStateHandle::getRobotState
const franka::RobotState & getRobotState() const noexcept
Gets the current robot state.
Definition: franka_state_interface.h:40
franka_hw::FrankaStateHandle
Handle to read the complete state of a robot.
Definition: franka_state_interface.h:15
franka_hw::FrankaStateInterface
Hardware interface to read the complete robot state.
Definition: franka_state_interface.h:52
franka_hw::FrankaStateHandle::getName
const std::string & getName() const noexcept
Gets the name of the state handle.
Definition: franka_state_interface.h:33
franka_hw
Definition: control_mode.h:8
franka_hw::FrankaStateHandle::FrankaStateHandle
FrankaStateHandle()=delete
franka_hw::FrankaStateHandle::FrankaStateHandle
FrankaStateHandle(const std::string &name, franka::RobotState &robot_state)
Creates an instance of a FrankaStateHandle.
Definition: franka_state_interface.h:25
hardware_interface::HardwareResourceManager
franka_hw::FrankaStateHandle::robot_state_
const franka::RobotState * robot_state_
Definition: franka_state_interface.h:44
hardware_resource_manager.h


franka_hw
Author(s): Franka Emika GmbH
autogenerated on Mon Sep 19 2022 02:33:21