Public Attributes
size_t	n_dof_
	Degrees od freedom.

rclcpp::Time	last_update_sim_time_ros_
	last time the write method was called.

std::vector< struct jointData >	joints_
	vector with the joint's names.

std::vector< std::shared_ptr< ImuData > >	imus_
	vector with the imus .

std::vector< hardware_interface::StateInterface >	state_interfaces_
	state interfaces that will be exported to the Resource Manager

std::vector< hardware_interface::CommandInterface >	command_interfaces_
	command interfaces that will be exported to the Resource Manager

ignition::gazebo::EntityComponentManager *	ecm
	Entity component manager, ECM shouldn't be accessed outside those methods, otherwise the app will crash.

int *	update_rate
	controller update rate

ignition::transport::Node	node
	Ignition communication node.

std::vector< MimicJoint >	mimic_joints_
	mapping of mimicked joints to index of joint they mimic

double	position_proportional_gain_
	Gain which converts position error to a velocity command.

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

Public Attributes