rci::VelocityControlled Class Reference

Interface indicating Joint Velocity Control. More...

#include <Controlled.h>

List of all members.

Public Member Functions
virtual bool	setJointVelocity (JointVelocitiesPtr velocity)
	Sets position.
virtual JointVelocitiesPtr	getLastVelocityCommand () const
	Returns latest position command.
Protected Member Functions
	VelocityControlled ()
virtual	~VelocityControlled ()
Protected Attributes
JointVelocitiesPtr	_lastCommandedVelocity

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Detailed Description

Interface indicating Joint Velocity Control.

Interface indicating Joint Velocity Control on a Node.

Definition at line 107 of file Controlled.h.

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Constructor & Destructor Documentation

rci::VelocityControlled::VelocityControlled

(

)

[protected]

Definition at line 71 of file Controlled.cpp.

rci::VelocityControlled::~VelocityControlled

(

)

[protected, virtual]

Definition at line 75 of file Controlled.cpp.

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Member Function Documentation

JointVelocitiesPtr rci::VelocityControlled::getLastVelocityCommand

(

)

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 67 of file Controlled.cpp.

References _lastCommandedVelocity.

bool rci::VelocityControlled::setJointVelocity

(

JointVelocitiesPtr

velocity

)

[virtual]

Sets position.

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

Definition at line 62 of file Controlled.cpp.

References _lastCommandedVelocity.

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Member Data Documentation

JointVelocitiesPtr rci::VelocityControlled::_lastCommandedVelocity [protected]

Definition at line 128 of file Controlled.h.

Referenced by getLastVelocityCommand(), and setJointVelocity().

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

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