rci::PositionControlled Class Reference

Interface indicating Joint Position Control. More...

#include <Controlled.h>

List of all members.

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


The documentation for this class was generated from the following files:
Generated on Thu Aug 2 14:02:57 2012 for RCI by  doxygen 1.6.3