#include <scaled_joint_command_interface.h>

Inheritance diagram for scaled_controllers::ScaledJointHandle:

Public Member Functions
double	getScalingFactor () const

	ScaledJointHandle ()

	ScaledJointHandle (const hardware_interface::JointStateHandle &js, double cmd, double scaling_factor)

void	setScalingFactor (double scaling_factor)

virtual	~ScaledJointHandle ()=default

Public Member Functions inherited from hardware_interface::JointHandle
double	getCommand () const

const double *	getCommandPtr () const

	JointHandle ()=default

	JointHandle (const JointStateHandle &js, double *cmd)

void	setCommand (double command)

Public Member Functions inherited from hardware_interface::JointStateHandle
double	getAbsolutePosition () const

const double *	getAbsolutePositionPtr () const

double	getEffort () const

const double *	getEffortPtr () const

std::string	getName () const

double	getPosition () const

const double *	getPositionPtr () const

double	getTorqueSensor () const

const double *	getTorqueSensorPtr () const

double	getVelocity () const

const double *	getVelocityPtr () const

bool	hasAbsolutePosition () const

bool	hasTorqueSensor () const

	JointStateHandle ()=default

	JointStateHandle (const std::string &name, const double pos, const double vel, const double *eff)

	JointStateHandle (const std::string &name, const double pos, const double vel, const double eff, const double absolute_pos)

	JointStateHandle (const std::string &name, const double pos, const double vel, const double eff, const double absolute_pos, const double *torque_sensor)

	JointStateHandle (const std::string &name, const double pos, const double vel, const double eff, const double torque_sensor, bool)

Private Attributes
double *	scaling_factor_

Detailed Description

Definition at line 53 of file scaled_joint_command_interface.h.

Constructor & Destructor Documentation

◆ ScaledJointHandle() [1/2]

scaled_controllers::ScaledJointHandle::ScaledJointHandle ( )

inline

Definition at line 56 of file scaled_joint_command_interface.h.

◆ ScaledJointHandle() [2/2]

scaled_controllers::ScaledJointHandle::ScaledJointHandle	(	const hardware_interface::JointStateHandle &	js,
		double *	cmd,
		double *	scaling_factor
	)

inline

Parameters

js	This joint's state handle
cmd	A pointer to the storage for this joint's output command
scaling_factor	A pointer to the storage for this joint's scaling factor

Definition at line 66 of file scaled_joint_command_interface.h.