Class Command::Actuator
Defined in File command.hpp
Nested Relationships
This class is a nested type of Class Command.
Class Documentation
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class Actuator
Actuator-specific commands.
Public Functions
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inline Actuator(HebiCommandRef &internal)
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inline FloatField &velocity()
Velocity of the module output (post-spring), in radians/second.
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inline const FloatField &velocity() const
Velocity of the module output (post-spring), in radians/second.
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inline FloatField &effort()
Effort at the module output; units vary (e.g., N * m for rotational joints and N for linear stages).
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inline const FloatField &effort() const
Effort at the module output; units vary (e.g., N * m for rotational joints and N for linear stages).
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inline HighResAngleField &position()
Position of the module output (post-spring), in radians.
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inline const HighResAngleField &position() const
Position of the module output (post-spring), in radians.
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inline Actuator(HebiCommandRef &internal)