rci::PositionControlledIF Class Reference

Interface indicating Joint Position Control. More...

#include <ControlledIF.h>

List of all members.

Public Member Functions

virtual bool setJointPosition (JointAnglesPtr position)=0
 Sets position.
virtual JointAnglesPtr getLastPositionCommand () const =0
 Returns latest position command.

Protected Member Functions

 ~PositionControlledIF ()

Detailed Description

Interface indicating Joint Position Control.

Interface indicating Joint Position Control on a Node.

Definition at line 76 of file ControlledIF.h.


Constructor & Destructor Documentation

rci::PositionControlledIF::~PositionControlledIF (  )  [inline, protected]

Definition at line 94 of file ControlledIF.h.


Member Function Documentation

virtual JointAnglesPtr rci::PositionControlledIF::getLastPositionCommand (  )  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::PositionControlledIF::setJointPosition ( JointAnglesPtr  position  )  [pure virtual]

Sets position.

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


The documentation for this class was generated from the following file:
Generated on Thu Aug 2 14:02:54 2012 for RCI by  doxygen 1.6.3