Class Command::Actuator

Nested Relationships

This class is a nested type of Class Command.

Class Documentation

class Actuator

Actuator-specific commands.

Public Functions

inline Actuator(HebiCommandRef &internal)
inline FloatField &velocity()

Velocity of the module output (post-spring), in radians/second.

inline const FloatField &velocity() const

Velocity of the module output (post-spring), in radians/second.

inline FloatField &effort()

Effort at the module output; units vary (e.g., N * m for rotational joints and N for linear stages).

inline const FloatField &effort() const

Effort at the module output; units vary (e.g., N * m for rotational joints and N for linear stages).

inline HighResAngleField &position()

Position of the module output (post-spring), in radians.

inline const HighResAngleField &position() const

Position of the module output (post-spring), in radians.