#include <data.hpp>

Collaboration diagram for mujoco_ros2_control::MuJoCoActuatorData:

Public Member Functions
void	copy_state_to_transmission ()

void	copy_command_from_transmission ()

void	copy_command_to_state ()

Public Attributes
std::string	joint_name = ""

InterfaceData	position_interface { hardware_interface::HW_IF_POSITION }

InterfaceData	velocity_interface { hardware_interface::HW_IF_VELOCITY }

InterfaceData	effort_interface { hardware_interface::HW_IF_EFFORT }

std::shared_ptr< control_toolbox::PidROS >	pos_pid { nullptr }

std::shared_ptr< control_toolbox::PidROS >	vel_pid { nullptr }

ActuatorType	actuator_type { ActuatorType::UNKNOWN }

int	mj_joint_type = -1

int	mj_pos_adr = -1

int	mj_vel_adr = -1

int	mj_actuator_id = -1

bool	is_position_control_enabled { false }

bool	is_position_pid_control_enabled { false }

bool	is_velocity_pid_control_enabled { false }

bool	is_velocity_control_enabled { false }

bool	is_effort_control_enabled { false }

bool	has_pos_pid { false }

bool	has_vel_pid { false }

Detailed Description

Wrapper for MuJoCo actuators and relevant ROS HW interface data.

Parameters

joint_name	Name of the MuJoCo joint handled by the actuator.
position_interface	Data for position command/state interface.
velocity_interface	Data for velocity command/state interface.
effort_interface	Data for effort command/state interface.
pos_pid	Pointer to position PID controller if configured.
vel_pid	Pointer to velocity PID controller if configured.
actuator_type	Type of the MuJoCo actuator.
mj_joint_type	MuJoCo joint type as per mjModel->jnt_type.
mj_pos_adr	MuJoCo position address in mjData->qpos.
mj_vel_adr	MuJoCo velocity address in mjData->qvel.
mj_actuator_id	MuJoCo actuator id as per mjModel->actuator_id.
is_position_control_enabled	Boolean flag indicating if position control is enabled.
is_position_pid_control_enabled	Boolean flag indicating if position PID control is enabled.
is_velocity_pid_control_enabled	Boolean flag indicating if velocity PID control is enabled.
is_velocity_control_enabled	Boolean flag indicating if velocity control is enabled.
is_effort_control_enabled	Boolean flag indicating if effort control is enabled.
has_pos_pid	Boolean flag indicating if a position PID controller is configured.
has_vel_pid	Boolean flag indicating if a velocity PID controller is configured.

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

Public Member Functions