#include <data.hpp>

Collaboration diagram for mujoco_ros2_control::URDFJointData:

Public Member Functions
void	copy_state_from_transmission ()

void	copy_command_to_transmission ()

void	copy_state_to_command ()

Public Attributes
std::string	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::vector< std::string >	command_interfaces = {}

bool	is_mimic { false }

long int	mimicked_joint_index

double	mimic_multiplier

bool	is_position_control_enabled { false }

bool	is_velocity_control_enabled { false }

bool	is_effort_control_enabled { false }

Detailed Description

Structure for the URDF joint data.

Parameters

name	Name of the joint.
position_interface	Data for position command/state interface.
velocity_interface	Data for velocity command/state interface.
effort_interface	Data for effort command/state interface.
command_interfaces	Vector of command interface names supported by the joint.
is_mimic	Boolean flag indicating if the joint is a mimic joint.
mimicked_joint_index	Index of the joint being mimicked.
mimic_multiplier	Multiplier for the mimic joint.
is_position_control_enabled	Boolean flag indicating if position 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.

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

Public Member Functions