Class Joint

Defined in File joint.hpp

Class Documentation

class Joint

Public Functions

Joint(const uint8_t id, const uint8_t operating_mode)

Joint(const uint8_t id, const uint8_t operating_mode, const std::string dynamixel_name)

uint8_t id() const

uint8_t operating_mode() const

void set_position_limit_margin(const double position_radian)

void set_position_limit(const double min_position_radian, const double max_position_radian)

double max_position_limit() const

double min_position_limit() const

void set_current_limit_margin(const double current_ampere)

void set_current_limit(const double max_current_ampere)

double current_limit_when_position_exceeds_limit() const

void set_present_position(const double position_radian)

void set_present_velocity(const double velocity_rps)

void set_present_current(const double current_ampere)

void set_present_voltage(const double voltage_volt)

void set_present_temperature(const int8_t temperature_degree)

double get_present_position() const

double get_present_velocity() const

double get_present_current() const

double get_present_voltage() const

int8_t get_present_temperature() const

void set_goal_position(const double position_radian)

void set_goal_velocity(const double velocity_rps)

void set_goal_current(const double current_ampere)

double get_goal_position() const

double get_goal_velocity() const

double get_goal_current() const

Public Members

std::shared_ptr<dynamixel_base::DynamixelBase> dxl