rci::ImpedanceControlled Class Reference

Interface indicating Joint Impedance Control. More...

#include <Controlled.h>

List of all members.

Public Member Functions
virtual bool	setJointImpedance (JointImpedancePtr impedance)
	Sets position.
virtual JointImpedancePtr	getLastImpedanceCommand () const
	Returns latest position command.
Protected Member Functions
	ImpedanceControlled ()
virtual	~ImpedanceControlled ()
Protected Attributes
JointImpedancePtr	_lastCommandedImpedance

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Detailed Description

Interface indicating Joint Impedance Control.

Interface indicating Joint Impedance Control on a Node.

Definition at line 165 of file Controlled.h.

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Constructor & Destructor Documentation

rci::ImpedanceControlled::ImpedanceControlled

(

)

[protected]

Definition at line 103 of file Controlled.cpp.

rci::ImpedanceControlled::~ImpedanceControlled

(

)

[protected, virtual]

Definition at line 107 of file Controlled.cpp.

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Member Function Documentation

JointImpedancePtr rci::ImpedanceControlled::getLastImpedanceCommand

(

)

const [virtual]

Returns latest position command.

Note, that this is the latest valid commanded position. If the position command exceeds limits and is therefore rejected, it ..

Definition at line 99 of file Controlled.cpp.

References _lastCommandedImpedance.

bool rci::ImpedanceControlled::setJointImpedance

(

JointImpedancePtr

impedance

)

[virtual]

Sets position.

Sets a position on a joint/actuator (joint space control).

Definition at line 94 of file Controlled.cpp.

References _lastCommandedImpedance.

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Member Data Documentation

JointImpedancePtr rci::ImpedanceControlled::_lastCommandedImpedance [protected]

Definition at line 186 of file Controlled.h.

Referenced by getLastImpedanceCommand(), and setJointImpedance().

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

• rci/Controlled.h
• rci/Controlled.cpp