19 #ifndef DOXYGEN_OMIT_INTERNAL 24 HebiGroupCommandPtr internal_;
25 #endif // DOXYGEN_OMIT_INTERNAL 31 const size_t number_of_modules_;
35 std::vector<Command> commands_;
79 bool writeGains(
const std::string& file)
const;
86 auto res = hebiGroupCommandReadSafetyParameters(internal_, file.c_str()) == HebiStatusSuccess;
98 auto res = hebiGroupCommandWriteSafetyParameters(internal_, file.c_str()) == HebiStatusSuccess;
125 void setEffort(
const Eigen::VectorXd& effort);
162 void getEffort(Eigen::VectorXd& out)
const;
GroupCommand(size_t number_of_modules)
Create a group command with the specified number of modules.
Definition: group_command.cpp:5
Eigen::VectorXd getPosition() const
Convenience function for returning commanded position values.
Definition: group_command.cpp:58
Command objects have various fields that can be set; when sent to the module, these fields control in...
Definition: command.hpp:33
bool writeGains(const std::string &file) const
Export the gains from this GroupCommand object into a file, creating it as necessary.
Definition: group_command.cpp:28
FunctionCallResult readSafetyParameters(const std::string &file)
Import the safety parameters from a file into this GroupCommand object.
Definition: group_command.hpp:85
~GroupCommand() noexcept
Destructor cleans up group command object as necessary.
Definition: group_command.cpp:11
Eigen::VectorXd getSpringConstant() const
Convenience function for returning commanded spring constant values.
Definition: group_command.cpp:82
Eigen::VectorXd getEffort() const
Convenience function for returning commanded effort values.
Definition: group_command.cpp:74
size_t size() const
Returns the number of module commands in this group command.
Definition: group_command.cpp:16
bool readGains(const std::string &file)
Import the gains from a file into this GroupCommand object.
Definition: group_command.cpp:24
Command & operator[](size_t index)
Access the command for an individual module.
Definition: group_command.cpp:18
Used as a return.
Definition: util.hpp:28
A list of Command objects appropriate for sending to a Group of modules; the size() must match the nu...
Definition: group_command.hpp:17
FunctionCallResult writeSafetyParameters(const std::string &file) const
Export the safety parameters from this GroupCommand object into a file, creating it as necessary.
Definition: group_command.hpp:97
void setVelocity(const Eigen::VectorXd &velocity)
Convenience function for setting velocity commands from Eigen vectors.
Definition: group_command.cpp:38
void setSpringConstant(const Eigen::VectorXd &springConstant)
Convenience function for setting spring constant commands from Eigen vectors.
Definition: group_command.cpp:51
void setPosition(const Eigen::VectorXd &position)
Convenience function for setting position commands from Eigen vectors.
Definition: group_command.cpp:32
void setEffort(const Eigen::VectorXd &effort)
Convenience function for setting effort commands from Eigen vectors.
Definition: group_command.cpp:44
void clear()
Clears all data in this GroupCommand object; this returns to the state the GroupCommand was at time o...
Definition: group_command.cpp:22
Eigen::VectorXd getVelocity() const
Convenience function for returning commanded velocity values.
Definition: group_command.cpp:66