HEBI C++ API  3.4.0
hebi::Command::Actuator Class Referencefinal

Actuator-specific commands. More...

#include <command.hpp>

Public Member Functions

FloatFieldvelocity ()
 Velocity of the module output (post-spring), in radians/second. More...
 
const FloatFieldvelocity () const
 Velocity of the module output (post-spring), in radians/second. More...
 
FloatFieldeffort ()
 Effort at the module output; units vary (e.g., N * m for rotational joints and N for linear stages). More...
 
const FloatFieldeffort () const
 Effort at the module output; units vary (e.g., N * m for rotational joints and N for linear stages). More...
 
HighResAngleFieldposition ()
 Position of the module output (post-spring), in radians. More...
 
const HighResAngleFieldposition () const
 Position of the module output (post-spring), in radians. More...
 

Detailed Description

Actuator-specific commands.

Member Function Documentation

◆ velocity() [1/2]

FloatField& hebi::Command::Actuator::velocity ( )
inline

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

◆ velocity() [2/2]

const FloatField& hebi::Command::Actuator::velocity ( ) const
inline

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

◆ effort() [1/2]

FloatField& hebi::Command::Actuator::effort ( )
inline

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

◆ effort() [2/2]

const FloatField& hebi::Command::Actuator::effort ( ) const
inline

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

◆ position() [1/2]

HighResAngleField& hebi::Command::Actuator::position ( )
inline

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

◆ position() [2/2]

const HighResAngleField& hebi::Command::Actuator::position ( ) const
inline

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


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