Struct URDFJointData

• Defined in File data.hpp

Struct Documentation

struct URDFJointData

Structure for the URDF joint data.

Param name:

Name of the joint.

Param position_interface:

Data for position command/state interface.

Param velocity_interface:

Data for velocity command/state interface.

Param effort_interface:

Data for effort command/state interface.

Param command_interfaces:

Vector of command interface names supported by the joint.

Param is_mimic:

Boolean flag indicating if the joint is a mimic joint.

Param mimicked_joint_index:

Index of the joint being mimicked.

Param mimic_multiplier:

Multiplier for the mimic joint.

Param is_position_control_enabled:

Boolean flag indicating if position control is enabled.

Param is_velocity_control_enabled:

Boolean flag indicating if velocity control is enabled.

Param is_effort_control_enabled:

Boolean flag indicating if effort control is enabled.

Public Functions

inline void copy_state_from_transmission()

inline void copy_command_to_transmission()

inline void copy_state_to_command()

Public Members

std::string name = ""

InterfaceData position_interface = {hardware_interface::HW_IF_POSITION}

InterfaceData velocity_interface = {hardware_interface::HW_IF_VELOCITY}

InterfaceData effort_interface = {hardware_interface::HW_IF_EFFORT}

std::vector<std::string> command_interfaces = {}

bool is_mimic = {false}

int mimicked_joint_index

double mimic_multiplier

bool is_position_control_enabled = {false}

bool is_velocity_control_enabled = {false}

bool is_effort_control_enabled = {false}