MATLAB File Help: HebiArmPlugin |
HebiArmPlugin interface for custom HebiArm plugins
Plugins have access to the arm state and may modify it as needed.
Plugin specific state may also be stored in the state struct,
but users are responsible for avoiding variable name collisions.
The always accessible fields are:
* time [s]
* dt [s] (time since last call, or 0 on first run)
* fbk [struct]
* cmdPos [rad]
* cmdVel [rad/s]
* cmdAccel [rad/s^2]
* cmdEffort [Nm|N]
Superclasses | handle |
Sealed | false |
Construct on load | false |
HebiArmPlugin | interface for custom HebiArm plugins |
enabled | whether the plugin should be run |
enabledRatio | current enabled ratio |
lastTimestamp | Timestamp when the ramping started |
name | of the plugin |
rampTime | time in seconds to apply full effects after enabling. zero |
targetRatio | target ratio |
type | of the plugin |
Static | createFromConfigMap | loads plugins from a robot config plugin map |
delete | Delete a handle object. | |
protected | getRampScale | Figure out the step delta (dt / rampTime) |
Sealed | isvalid | Test handle validity. |
Abstract | update |
ObjectBeingDestroyed | Notifies listeners that a particular object has been destroyed. |