rm_control::HybridJointHandle Class Reference

#include <hybrid_joint_interface.h>

Inheritance diagram for rm_control::HybridJointHandle:

Collaboration diagram for rm_control::HybridJointHandle:

Public Member Functions
	HybridJointHandle ()=default
	HybridJointHandle (const JointStateHandle &js, double *posDes, double *velDes, double *kp, double *kd, double *ff)
void	setPositionDesired (double cmd)
void	setVelocityDesired (double cmd)
void	setKp (double cmd)
void	setKd (double cmd)
void	setFeedforward (double cmd)
void	setCommand (double pos_des, double vel_des, double kp, double kd, double ff)
double	getPositionDesired ()
double	getVelocityDesired ()
double	getKp ()
double	getKd ()
double	getFeedforward ()

Constructor & Destructor Documentation

HybridJointHandle() [1/2]

rm_control::HybridJointHandle::HybridJointHandle ( )

default

HybridJointHandle() [2/2]

rm_control::HybridJointHandle::HybridJointHandle ( const JointStateHandle & js, double * posDes, double * velDes, double * kp, double * kd, double * ff )

inline

Member Function Documentation

getFeedforward()

double rm_control::HybridJointHandle::getFeedforward ( )

inline

getKd()

double rm_control::HybridJointHandle::getKd ( )

inline

getKp()

double rm_control::HybridJointHandle::getKp ( )

inline

getPositionDesired()

double rm_control::HybridJointHandle::getPositionDesired ( )

inline

getVelocityDesired()

double rm_control::HybridJointHandle::getVelocityDesired ( )

inline

setCommand()

void rm_control::HybridJointHandle::setCommand ( double pos_des, double vel_des, double kp, double kd, double ff )

inline

setFeedforward()

void rm_control::HybridJointHandle::setFeedforward ( double cmd )

inline

setKd()

void rm_control::HybridJointHandle::setKd ( double cmd )

inline

setKp()

void rm_control::HybridJointHandle::setKp ( double cmd )

inline

setPositionDesired()

void rm_control::HybridJointHandle::setPositionDesired ( double cmd )

inline

setVelocityDesired()

void rm_control::HybridJointHandle::setVelocityDesired ( double cmd )

inline

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The documentation for this class was generated from the following file:

• rm_common/include/rm_common/hardware_interface/hybrid_joint_interface.h