Class FrankaRobotState
Defined in File franka_robot_state.hpp
Inheritance Relationships
Base Type
public semantic_components::SemanticComponentInterface< franka_msgs::msg::FrankaRobotState >
Class Documentation
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class FrankaRobotState : public semantic_components::SemanticComponentInterface<franka_msgs::msg::FrankaRobotState>
Public Functions
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explicit FrankaRobotState(const std::string &name, const std::string &robot_description)
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virtual ~FrankaRobotState() = default
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virtual auto initialize_robot_state_msg(franka_msgs::msg::FrankaRobotState &message) -> void
- Parameters:
[in/out] – message Initializes this message to contain the respective frame_id information
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virtual auto get_values_as_message(franka_msgs::msg::FrankaRobotState &message) -> bool
Constructs and return a FrankaRobotState message from the current values.
- Returns:
FrankaRobotState message from values;
Protected Functions
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auto get_robot_state() -> franka::RobotState*
Get the robot state object.
- Returns:
franka::RobotState
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explicit FrankaRobotState(const std::string &name, const std::string &robot_description)