rci::ImpedanceControlledIF Class Reference

Interface indicating Joint Impedance Control. More...

#include <ControlledIF.h>

List of all members.

Public Member Functions
virtual bool	setJointImpedance (JointImpedancePtr impedance)=0
	Sets position.
virtual JointImpedancePtr	getLastImpedanceCommand () const =0
	Returns latest position command.
Protected Member Functions
	~ImpedanceControlledIF ()

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Detailed Description

Interface indicating Joint Impedance Control.

Interface indicating Joint Impedance Control on a Node.

Definition at line 158 of file ControlledIF.h.

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Constructor & Destructor Documentation

rci::ImpedanceControlledIF::~ImpedanceControlledIF

(

)

[inline, protected]

Definition at line 176 of file ControlledIF.h.

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Member Function Documentation

virtual JointImpedancePtr rci::ImpedanceControlledIF::getLastImpedanceCommand

(

)

const [pure 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 ..

virtual bool rci::ImpedanceControlledIF::setJointImpedance

(

JointImpedancePtr

impedance

)

[pure virtual]

Sets position.

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

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

• rci/ControlledIF.h