Class FrankaRobotState

Inheritance Relationships

Base Type

  • public semantic_components::SemanticComponentInterface< franka_msgs::msg::FrankaRobotState >

Class Documentation

class FrankaRobotState : public semantic_components::SemanticComponentInterface<franka_msgs::msg::FrankaRobotState>

Public Functions

explicit FrankaRobotState(const std::string &name, const std::string &robot_description)
virtual ~FrankaRobotState() = default
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

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

auto get_robot_state() -> franka::RobotState*

Get the robot state object.

Returns:

franka::RobotState