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JointPositionControl Class Reference

State for moving a set of joints using position control. More...

#include <RobotSkillTemplates/statecharts/MotionControlGroup/JointPositionControl.h>

+ Inheritance diagram for JointPositionControl:

Public Member Functions

 JointPositionControl (XMLStateConstructorParams stateData)
 
void onEnter () override
 
void onExit () override
 

Static Public Member Functions

static XMLStateFactoryBasePtr CreateInstance (XMLStateConstructorParams stateData)
 

Static Public Attributes

static SubClassRegistry Registry
 

Detailed Description

State for moving a set of joints using position control.

Parameters
[in]JointTargetValues(StringValueMap) Specifies the target angles for each joint to move
[in]JointTargetTolerance(Float, optional)
[in]JointSpeed(Float) Default speed to apply for all joints
[in]JointSpeeds(StringValueMap) Speed settings for individual joints. Overrides JointSpeed
[in]Timeout(Float) Timeout value for the whole operation
[out]JointFinalDistancesToTarget(StringValueMap) Return distances to target

Definition at line 41 of file JointPositionControl.h.

Constructor & Destructor Documentation

◆ JointPositionControl()

JointPositionControl ( XMLStateConstructorParams  stateData)

Definition at line 40 of file JointPositionControl.cpp.

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Member Function Documentation

◆ CreateInstance()

XMLStateFactoryBasePtr CreateInstance ( XMLStateConstructorParams  stateData)
static

Definition at line 87 of file JointPositionControl.cpp.

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◆ onEnter()

void onEnter ( )
override

Definition at line 47 of file JointPositionControl.cpp.

◆ onExit()

void onExit ( )
override

Definition at line 52 of file JointPositionControl.cpp.

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Member Data Documentation

◆ Registry

JointPositionControl::SubClassRegistry Registry
static

Definition at line 52 of file JointPositionControl.h.

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