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19 #ifndef DOXYGEN_OMIT_INTERNAL
25 #endif // DOXYGEN_OMIT_INTERNAL
56 Command& operator[](
size_t index);
61 const
Command& operator[](
size_t index) const;
79 bool writeGains(const std::
string& file) const;
125 void setEffort(
const Eigen::VectorXd& effort);
162 void getEffort(Eigen::VectorXd& out)
const;
GroupCommand(size_t number_of_modules)
Create a group command with the specified number of modules.
void setEffort(const Eigen::VectorXd &effort)
Convenience function for setting effort commands from Eigen vectors.
void clear()
Clears all data in this GroupCommand object; this returns to the state the GroupCommand was at time o...
A list of Command objects appropriate for sending to a Group of modules; the size() must match the nu...
size_t size() const
Returns the number of module commands in this group command.
Eigen::VectorXd getVelocity() const
Convenience function for returning commanded velocity values.
~GroupCommand() noexcept
Destructor cleans up group command object as necessary.
FunctionCallResult writeSafetyParameters(const std::string &file) const
Export the safety parameters from this GroupCommand object into a file, creating it as necessary.
struct HebiGroupCommand_ * HebiGroupCommandPtr
The C-style's API representation of a command object for a group of modules.
Eigen::VectorXd getSpringConstant() const
Convenience function for returning commanded spring constant values.
Eigen::VectorXd getEffort() const
Convenience function for returning commanded effort values.
HebiGroupCommandPtr internal_
const char * hebiSafetyParametersGetLastError(void)
Misc Functions.
bool writeGains(const std::string &file) const
Export the gains from this GroupCommand object into a file, creating it as necessary.
const size_t number_of_modules_
FunctionCallResult readSafetyParameters(const std::string &file)
Import the safety parameters from a file into this GroupCommand object.
Eigen::VectorXd getPosition() const
Convenience function for returning commanded position values.
HebiStatusCode hebiGroupCommandReadSafetyParameters(HebiGroupCommandPtr command, const char *file)
Import safety parameters from a file into a GroupCommand object.
Command objects have various fields that can be set; when sent to the module, these fields control in...
std::vector< Command > commands_
HebiStatusCode hebiGroupCommandWriteSafetyParameters(HebiGroupCommandPtr command, const char *file)
Export safety parameters from a GroupCommand object into a file.
void setPosition(const Eigen::VectorXd &position)
Convenience function for setting position commands from Eigen vectors.
bool readGains(const std::string &file)
Import the gains from a file into this GroupCommand object.
void setSpringConstant(const Eigen::VectorXd &springConstant)
Convenience function for setting spring constant commands from Eigen vectors.
void setVelocity(const Eigen::VectorXd &velocity)
Convenience function for setting velocity commands from Eigen vectors.
hebi_cpp_api_ros
Author(s): Chris Bollinger
, Matthew Tesch
autogenerated on Fri Aug 2 2024 08:35:18