Class MimicJointHandle

Inheritance Relationships

Base Type

  • public robot_controllers_interface::JointHandle

Class Documentation

class MimicJointHandle : public robot_controllers_interface::JointHandle

Joint handle for scaled mimic controller.

Public Functions

MimicJointHandle(const std::string &name, robot_controllers_interface::JointHandlePtr mimic)
virtual ~MimicJointHandle() = default

Ensure proper cleanup with virtual destructor.

virtual void setPosition(double position, double velocity, double effort)

Set a position command for this joint.

Parameters:

  • position – Position command in radians or meters.

  • velocity – Velocity command in rad/sec or meters/sec.

  • effort – Effort command in Nm or N.

virtual void setVelocity(double velocity, double effort)

Set a velocity command for this joint.

Parameters:

  • velocity – Velocity command in rad/sec or meters/sec.

  • effort – Effort command in Nm or N.

virtual void setEffort(double effort)

Set an effort command for this joint.

Parameters:

effort – Effort command in Nm or N.

virtual double getPosition()

Get the position of the joint in radians or meters.

virtual double getVelocity()

Get the velocity of the joint in rad/sec or meters/sec.

virtual double getEffort()

Get applied effort of a joint in Nm or N.

virtual bool isContinuous()

Is this joint continuous (has no position limits).

virtual double getPositionMin()

Get the minimum valid position command.

virtual double getPositionMax()

Get the maximum valid position command.

virtual double getVelocityMax()

Get the maximum velocity command.

virtual double getEffortMax()

Get the maximum effort command.

virtual std::string getName()

Get the name of this joint.

virtual void reset()

Reset the command.