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

Constructor & Destructor Documentation

JointPositionControl()

JointPositionControl

(

XMLStateConstructorParams

stateData

)

Member Function Documentation

CreateInstance()

XMLStateFactoryBasePtr CreateInstance ( XMLStateConstructorParams stateData )

static

onEnter()

void onEnter ( )

override

onExit()

void onExit ( )

override

Member Data Documentation

Registry

JointPositionControl::SubClassRegistry Registry

static

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

• RobotSkillTemplates/statecharts/MotionControlGroup/JointPositionControl.h
• RobotSkillTemplates/statecharts/MotionControlGroup/JointPositionControl.cpp