rci::TorqueControlledIF Class Reference

Interface indicating Joint Torque Control. More...

#include <ControlledIF.h>

List of all members.

Public Member Functions
virtual bool	setJointTorque (JointTorquesPtr position)=0
	Sets position.
virtual JointTorquesPtr	getLastTorqueCommand () const =0
	Returns latest position command.
Protected Member Functions
	~TorqueControlledIF ()

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Detailed Description

Interface indicating Joint Torque Control.

Interface indicating Joint Torque Control on a Node.

Definition at line 131 of file ControlledIF.h.

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Constructor & Destructor Documentation

rci::TorqueControlledIF::~TorqueControlledIF

(

)

[inline, protected]

Definition at line 149 of file ControlledIF.h.

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Member Function Documentation

virtual JointTorquesPtr rci::TorqueControlledIF::getLastTorqueCommand

(

)

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::TorqueControlledIF::setJointTorque

(

JointTorquesPtr

position

)

[pure virtual]

Sets position.

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

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

• rci/ControlledIF.h