jointData Struct Reference

Collaboration diagram for jointData:

Public Attributes
std::string	name
	Joint's names.
sdf::JointType	joint_type
	Joint's type.
sdf::JointAxis	joint_axis
	Joint's axis.
InterfaceData	position
	Current state and command joint position.
InterfaceData	velocity
	Current state and command joint velocity.
InterfaceData	effort
	Current state and command joint effort.
bool	is_actuated
	flag if joint is actuated (has command interfaces) or passive
sim::Entity	sim_joint
	handles to the joints from within Gazebo
gz_ros2_control::GazeboSimSystemInterface::ControlMethod	joint_control_method
	Control method defined in the URDF for each joint.
std::string	if_name_position
	Precomputed interface names ("joint_name/position" etc.) to avoid per-call string allocations in perform_command_mode_switch.
std::string	if_name_velocity
std::string	if_name_effort
std::unique_ptr< control_toolbox::LowPassFilter< double > >	lpf
	damping_frequency for a first-order low pass

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

• gz_ros2_control/gz_ros2_control/src/gz_system.cpp
• gz_ros2_control/gz_ros2_control_demos/src/gz_custom_system.cpp