rci::PositionControlled Class Reference
Interface indicating Joint Position Control. More...
#include <Controlled.h>
Public Member Functions | |
virtual bool | setJointPosition (JointAnglesPtr position) |
Sets position. | |
virtual JointAnglesPtr | getLastPositionCommand () const |
Returns latest position command. | |
Protected Member Functions | |
PositionControlled () | |
virtual | ~PositionControlled () |
Protected Attributes | |
JointAnglesPtr | _lastCommandedPosition |
Detailed Description
Interface indicating Joint Position Control.
Interface indicating Joint Position Control on a Node.
Definition at line 78 of file Controlled.h.
Constructor & Destructor Documentation
rci::PositionControlled::PositionControlled | ( | ) | [protected] |
Definition at line 55 of file Controlled.cpp.
rci::PositionControlled::~PositionControlled | ( | ) | [protected, virtual] |
Definition at line 59 of file Controlled.cpp.
Member Function Documentation
JointAnglesPtr rci::PositionControlled::getLastPositionCommand | ( | ) | 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 51 of file Controlled.cpp.
References _lastCommandedPosition.
bool rci::PositionControlled::setJointPosition | ( | JointAnglesPtr | position | ) | [virtual] |
Sets position.
Sets a position on a joint/actuator (joint space control).
Definition at line 46 of file Controlled.cpp.
References _lastCommandedPosition.
Member Data Documentation
Definition at line 99 of file Controlled.h.
Referenced by getLastPositionCommand(), and setJointPosition().
The documentation for this class was generated from the following files:
- rci/Controlled.h
- rci/Controlled.cpp
Generated on Thu Aug 2 14:02:57 2012 for RCI by 1.6.3