Actuator-specific feedback. More...

#include <feedback.hpp>

Public Member Functions
const FloatField &	velocity () const
	Velocity of the module output (post-spring), in radians/second. More...

const FloatField &	effort () const
	Effort at the module output; units vary (e.g., N * m for rotational joints and N for linear stages). More...

const FloatField &	velocityCommand () const
	Commanded velocity of the module output (post-spring), in radians/second. More...

const FloatField &	effortCommand () const
	Commanded effort at the module output; units vary (e.g., N * m for rotational joints and N for linear stages). More...

const FloatField &	deflection () const
	Difference (in radians) between the pre-spring and post-spring output position. More...

const FloatField &	deflectionVelocity () const
	Velocity (in radians/second) of the difference between the pre-spring and post-spring output position. More...

const FloatField &	motorVelocity () const
	The velocity (in radians/second) of the motor shaft. More...

const FloatField &	motorCurrent () const
	Current supplied to the motor. More...

const FloatField &	motorSensorTemperature () const
	The temperature from a sensor near the motor housing. More...

const FloatField &	motorWindingCurrent () const
	The estimated current in the motor windings. More...

const FloatField &	motorWindingTemperature () const
	The estimated temperature of the motor windings. More...

const FloatField &	motorHousingTemperature () const
	The estimated temperature of the motor housing. More...

const HighResAngleField &	position () const
	Position of the module output (post-spring), in radians. More...

const HighResAngleField &	positionCommand () const
	Commanded position of the module output (post-spring), in radians. More...

const UInt64Field &	sequenceNumber () const
	Sequence number going to module (local) More...

const UInt64Field &	receiveTime () const
	Timestamp of when message was received from module (local) More...

const UInt64Field &	transmitTime () const
	Timestamp of when message was transmitted to module (local) More...

const UInt64Field &	hardwareReceiveTime () const
	Timestamp of when message was received by module (remote) More...

const UInt64Field &	hardwareTransmitTime () const
	Timestamp of when message was transmitted from module (remote) More...

const UInt64Field &	senderId () const
	Unique ID of the module transmitting this feedback. More...

Detailed Description

Actuator-specific feedback.

Member Function Documentation

const FloatField& hebi::Feedback::Actuator::velocity ( ) const

inline

Velocity of the module output (post-spring), in radians/second.

const FloatField& hebi::Feedback::Actuator::effort ( ) const

inline

Effort at the module output; units vary (e.g., N * m for rotational joints and N for linear stages).

const FloatField& hebi::Feedback::Actuator::velocityCommand ( ) const

inline

Commanded velocity of the module output (post-spring), in radians/second.

const FloatField& hebi::Feedback::Actuator::effortCommand ( ) const

inline

Commanded effort at the module output; units vary (e.g., N * m for rotational joints and N for linear stages).

const FloatField& hebi::Feedback::Actuator::deflection ( ) const

inline

Difference (in radians) between the pre-spring and post-spring output position.

const FloatField& hebi::Feedback::Actuator::deflectionVelocity ( ) const

inline

Velocity (in radians/second) of the difference between the pre-spring and post-spring output position.

const FloatField& hebi::Feedback::Actuator::motorVelocity ( ) const

inline

The velocity (in radians/second) of the motor shaft.

const FloatField& hebi::Feedback::Actuator::motorCurrent ( ) const

inline

Current supplied to the motor.

const FloatField& hebi::Feedback::Actuator::motorSensorTemperature ( ) const

inline

The temperature from a sensor near the motor housing.

const FloatField& hebi::Feedback::Actuator::motorWindingCurrent ( ) const

inline

The estimated current in the motor windings.

const FloatField& hebi::Feedback::Actuator::motorWindingTemperature ( ) const

inline

The estimated temperature of the motor windings.

const FloatField& hebi::Feedback::Actuator::motorHousingTemperature ( ) const

inline

The estimated temperature of the motor housing.

const HighResAngleField& hebi::Feedback::Actuator::position ( ) const

inline

Position of the module output (post-spring), in radians.

const HighResAngleField& hebi::Feedback::Actuator::positionCommand ( ) const

inline

Commanded position of the module output (post-spring), in radians.

const UInt64Field& hebi::Feedback::Actuator::sequenceNumber ( ) const

inline

Sequence number going to module (local)

const UInt64Field& hebi::Feedback::Actuator::receiveTime ( ) const

inline

Timestamp of when message was received from module (local)

const UInt64Field& hebi::Feedback::Actuator::transmitTime ( ) const

inline

Timestamp of when message was transmitted to module (local)

const UInt64Field& hebi::Feedback::Actuator::hardwareReceiveTime ( ) const

inline

Timestamp of when message was received by module (remote)

const UInt64Field& hebi::Feedback::Actuator::hardwareTransmitTime ( ) const

inline

Timestamp of when message was transmitted from module (remote)

const UInt64Field& hebi::Feedback::Actuator::senderId ( ) const

inline

Unique ID of the module transmitting this feedback.

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

src/feedback.hpp

Public Member Functions

Detailed Description

Member Function Documentation