rci::TorqueControlled Class Reference

Interface indicating Joint Torque Control. More...

#include <Controlled.h>

List of all members.

Public Member Functions
virtual bool	setJointTorque (JointTorquesPtr position)
	Sets position.
virtual JointTorquesPtr	getLastTorqueCommand () const
	Returns latest position command.
Protected Member Functions
	TorqueControlled ()
virtual	~TorqueControlled ()
Protected Attributes
JointTorquesPtr	_lastCommandedTorque

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Detailed Description

Interface indicating Joint Torque Control.

Interface indicating Joint Torque Control on a Node.

Definition at line 136 of file Controlled.h.

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Constructor & Destructor Documentation

rci::TorqueControlled::TorqueControlled

(

)

[protected]

Definition at line 87 of file Controlled.cpp.

rci::TorqueControlled::~TorqueControlled

(

)

[protected, virtual]

Definition at line 91 of file Controlled.cpp.

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Member Function Documentation

JointTorquesPtr rci::TorqueControlled::getLastTorqueCommand

(

)

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 83 of file Controlled.cpp.

References _lastCommandedTorque.

bool rci::TorqueControlled::setJointTorque

(

JointTorquesPtr

position

)

[virtual]

Sets position.

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

Definition at line 78 of file Controlled.cpp.

References _lastCommandedTorque.

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Member Data Documentation

JointTorquesPtr rci::TorqueControlled::_lastCommandedTorque [protected]

Definition at line 157 of file Controlled.h.

Referenced by getLastTorqueCommand(), and setJointTorque().

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

• rci/Controlled.h
• rci/Controlled.cpp