Inheritance diagram for hardware_interface::CommandInterface:

Collaboration diagram for hardware_interface::CommandInterface:

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Public Types
using	SharedPtr = std::shared_ptr< CommandInterface >

Public Member Functions
	CommandInterface (const InterfaceDescription &interface_description)

	CommandInterface (const CommandInterface &other)=delete
	CommandInterface copy constructor is actively deleted.

	CommandInterface (CommandInterface &&other)=default

void	set_on_set_command_limiter (std::function< double(double, bool &)> on_set_command_limiter)

template<typename T >
bool	set_limited_value (const T &value)
	A setter for the value of the command interface that triggers the limiter.

const bool &	is_limited () const

void	registerIntrospection () const

void	unregisterIntrospection () const

	Handle (const std::string &prefix_name, const std::string &interface_name, double *value_ptr=nullptr)

	Handle (const InterfaceDescription &interface_description)

	Handle (const std::string &interface_name)

	Handle (const char *interface_name)

	Handle (const Handle &other) noexcept

	Handle (Handle &&other) noexcept

Public Member Functions inherited from hardware_interface::Handle
	Handle (const std::string &prefix_name, const std::string &interface_name, double *value_ptr=nullptr)

	Handle (const InterfaceDescription &interface_description)

	Handle (const std::string &interface_name)

	Handle (const char *interface_name)

	Handle (const Handle &other) noexcept

Handle &	operator= (const Handle &other)

	Handle (Handle &&other) noexcept

Handle &	operator= (Handle &&other)

	operator bool () const
	Returns true if handle references a value.

const std::string &	get_name () const

const std::string &	get_interface_name () const

const std::string &	get_full_name () const

const std::string &	get_prefix_name () const

double	get_value () const

template<typename T = double>
std::optional< T >	get_optional () const
	Get the value of the handle.

template<typename T = double>
std::optional< T >	get_optional (std::shared_lock< std::shared_mutex > &lock) const
	Get the value of the handle.

template<typename T >
bool	get_value (T &value) const
	Get the value of the handle.

template<typename T >
bool	set_value (const T &value)
	Set the value of the handle.

template<typename T >
bool	set_value (std::unique_lock< std::shared_mutex > &lock, const T &value)
	Set the value of the handle.

std::shared_mutex &	get_mutex ()

HandleDataType	get_data_type () const

Additional Inherited Members
Protected Attributes inherited from hardware_interface::Handle
std::string	prefix_name_

std::string	interface_name_

std::string	handle_name_

HANDLE_DATATYPE	value_ = std::monostate{}

HandleDataType	data_type_ = HandleDataType::DOUBLE

double *	value_ptr_

std::shared_mutex	handle_mutex_

Constructor & Destructor Documentation

◆ CommandInterface()

hardware_interface::CommandInterface::CommandInterface ( const CommandInterface & other )

delete

CommandInterface copy constructor is actively deleted.

Command interfaces are having a unique ownership and thus can't be copied in order to avoid simultaneous writes to the same resource.

Member Function Documentation

◆ set_limited_value()

template<typename T >

bool hardware_interface::CommandInterface::set_limited_value ( const T & value )

inline

A setter for the value of the command interface that triggers the limiter.

Parameters

value The value to be set.

Returns: True if the value was set successfully, false otherwise.

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

ros2_control/hardware_interface/include/hardware_interface/handle.hpp

Public Types

Public Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

◆ CommandInterface()

Member Function Documentation

◆ set_limited_value()