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base
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#include <JointState.hpp>
Public Types | |
| enum | MODE { POSITION, SPEED, EFFORT, RAW, ACCELERATION, UNSET } |
Public Member Functions | |
| JointState () | |
| bool | hasPosition () const |
| bool | hasSpeed () const |
| bool | hasEffort () const |
| bool | hasRaw () const |
| bool | hasAcceleration () const |
| bool | isPosition () const |
| bool | isSpeed () const |
| bool | isEffort () const |
| bool | isRaw () const |
| bool | isAcceleration () const |
| double | getField (int mode) const |
| void | setField (int mode, double value) |
| MODE | getMode () const |
Static Public Member Functions | |
| static JointState | Position (double value) |
| static JointState | Speed (float value) |
| static JointState | Effort (float value) |
| static JointState | Raw (float value) |
| static JointState | Acceleration (float value) |
Public Attributes | |
| double | position |
| float | speed |
| float | effort |
| float | raw |
| float | acceleration |
Representation of the state of a given joint
The joint does not have to necessarily be actuated. This type is also used as inputs to controller, in which case the setpoints should be tested with the has* and is* predicates (e.g. hasPosition(), ...)
The values given in such structures can only be interpreted when associated with kinematics data. In Rock, see the control/robot_model package for more information.
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Returns a JointState object with the acceleration field set to the given value
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Returns a JointState object with the effort field set to the given value
| double base::JointState::getField | ( | int | mode | ) | const |
Returns the field that matches the given mode
| JointState::MODE base::JointState::getMode | ( | ) | const |
Returns the mode of this JointState
The mode is defined only if the structure has only one field set. runtime_error is thrown if this is called with more than one field set.
| bool base::JointState::hasAcceleration | ( | ) | const |
Tests whether the acceleration field is set
| bool base::JointState::hasEffort | ( | ) | const |
Tests whether the effort field is set
| bool base::JointState::hasPosition | ( | ) | const |
Tests whether the position field is set
| bool base::JointState::hasRaw | ( | ) | const |
Tests whether the raw field is set
| bool base::JointState::hasSpeed | ( | ) | const |
Tests whether the speed field is set
| bool base::JointState::isAcceleration | ( | ) | const |
Tests whether the acceleration field is the only field set
This is commonly used in controllers to test whether this data structure is a valid command for said controller (e.g. a hardware driver that is controlled in acceleration would throw if isAcceleration() returns false)
| bool base::JointState::isEffort | ( | ) | const |
Tests whether the effort field is the only field set
This is commonly used in controllers to test whether this data structure is a valid command for said controller (e.g. a torque controller would throw if isEffort() returns false)
| bool base::JointState::isPosition | ( | ) | const |
Tests whether the position field is the only field set
This is commonly used in controllers to test whether this data structure is a valid command for said controller (e.g. a position controller would throw if isPosition() returns false)
| bool base::JointState::isRaw | ( | ) | const |
Tests whether the raw field is the only field set
This is commonly used in controllers to test whether this data structure is a valid command for said controller (e.g. a hardware driver that is controlled in PWM would throw if isRaw() returns false)
| bool base::JointState::isSpeed | ( | ) | const |
Tests whether the speed field is the only field set
This is commonly used in controllers to test whether this data structure is a valid command for said controller (e.g. a speed controller would throw if isSpeed() returns false)
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Returns a JointState object with the position field set to the given value
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Returns a JointState object with the raw field set to the given value
| void base::JointState::setField | ( | int | mode, |
| double | value | ||
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Sets the given field to the given value
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Returns a JointState object with the speed field set to the given value
| float base::JointState::acceleration |
Acceleration in radians per square second for angular actuators, in m/ss for linear ones
| float base::JointState::effort |
Torque in N.m for angular joints and N for linear ones
| double base::JointState::position |
Current position of the actuator, in radians for angular joints, in m for linear ones
For angular joints that can move more than 360 degrees, this accumulates the movement since initialization
If the joint is an angular joint whose motion is constrained to less than one full turn, the value should be in [-PI, PI]. base::Angle could be used to manipulate it before setting it in this structure
If the joint is an unconstrained angular joint (e.g. a wheel joint), the range is [-inf, inf]
| float base::JointState::raw |
Raw command to/from the actuator, if this is an actuated joint. It is commonly a PWM value in [0,1]
| float base::JointState::speed |
Speed in radians per second for angular actuators, in m/s for linear ones
This is an instantaneous speed. It means that, considering two consecutive JointState samples, (position1 - position0)/(time1 - * time0).toSeconds() is not necessarily equal to 'speed'
1.8.13