rci::PositionControlledIF Class Reference
Interface indicating Joint Position Control. More...
#include <ControlledIF.h>
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:
- rci/ControlledIF.h
Generated on Thu Aug 2 14:02:54 2012 for RCI by 1.6.3