Class Joints

Defined in File hardware_joints.hpp

Class Documentation

class Joints

Public Functions

inline Joints()

inline ~Joints()

const group_map_t groups() const

void append_group(const group_name_t &group_name, const joint::JointGroup &group)

void append_joint(const joint_name_t &joint_name, const joint::Joint &joint)

std::shared_ptr<joint::JointGroup> group(const group_name_t &name)

std::shared_ptr<joint::Joint> joint(const joint_name_t &name)

std::shared_ptr<joint::Joint> joint(const dxl_id_t &id)

bool has_group(const group_name_t &name)

bool has_joint(const joint_name_t &name)

bool has_joint(const dxl_id_t &id)

bool get_position(const dxl_id_t &id, position_t &position)

bool get_position(const joint_name_t &joint_name, position_t &position)

bool get_positions(const group_name_t &group_name, std::vector<position_t> &positions)

bool get_velocity(const dxl_id_t &id, velocity_t &velocity)

bool get_velocity(const joint_name_t &joint_name, velocity_t &velocity)

bool get_velocities(const group_name_t &group_name, std::vector<velocity_t> &velocities)

bool get_current(const dxl_id_t &id, current_t &current)

bool get_current(const joint_name_t &joint_name, current_t &current)

bool get_currents(const group_name_t &group_name, std::vector<current_t> &currents)

bool get_voltage(const dxl_id_t id, voltage_t &voltage)

bool get_voltage(const joint_name_t &joint_name, voltage_t &voltage)

bool get_voltages(const group_name_t &group_name, std::vector<voltage_t> &voltages)

bool get_temperature(const dxl_id_t &id, temperature_t &temperature)

bool get_temperature(const joint_name_t &joint_name, temperature_t &temperature)

bool get_temperatures(const group_name_t &group_name, std::vector<temperature_t> &temperatures)

bool get_max_position_limit(const dxl_id_t &id, position_t &max_position_limit)

bool get_min_position_limit(const dxl_id_t &id, position_t &min_position_limit)

bool set_position(const dxl_id_t &id, const position_t &position)

bool set_position(const joint_name_t &joint_name, const position_t &position)

bool set_positions(const group_name_t &group_name, const std::vector<position_t> &positions)

bool set_velocity(const dxl_id_t &id, const velocity_t &velocity)

bool set_velocity(const joint_name_t &joint_name, const velocity_t &velocity)

bool set_velocities(const group_name_t &group_name, const std::vector<velocity_t> &velocities)

bool set_current(const dxl_id_t &id, const current_t &current)

bool set_current(const joint_name_t &joint_name, const current_t &current)

bool set_currents(const group_name_t &group_name, const std::vector<current_t> &currents)