SensorDevicesForNJointTorqueController Struct Reference

#include <armarx/control/common/device.h>

Public Member Functions
void	append (const SensorValueBase *sv, const std::string &jointName)
void	getJointAngles (Eigen::VectorXf &qpos)
void	updateJointValues (Eigen::VectorXf &qpos, Eigen::VectorXf &qvel, Eigen::VectorXf &qtor)

Public Attributes
std::vector< const SensorValue1DoFActuatorPosition * >	positionSensors
std::vector< const SensorValue1DoFActuatorTorque * >	torqueSensors
std::vector< const SensorValue1DoFActuatorVelocity * >	velocitySensors

Detailed Description

Definition at line 12 of file device.h.

Member Function Documentation

append()

void append ( const SensorValueBase *  sv, const std::string &  jointName  )

inline

Definition at line 46 of file device.h.

Here is the call graph for this function:

getJointAngles()

void getJointAngles ( Eigen::VectorXf &  qpos )

inline

Definition at line 36 of file device.h.

updateJointValues()

void updateJointValues ( Eigen::VectorXf &  qpos, Eigen::VectorXf &  qvel, Eigen::VectorXf &  qtor  )

inline

Definition at line 19 of file device.h.

Member Data Documentation

positionSensors

std::vector<const SensorValue1DoFActuatorPosition*> positionSensors

Definition at line 16 of file device.h.

torqueSensors

std::vector<const SensorValue1DoFActuatorTorque*> torqueSensors

Definition at line 14 of file device.h.

velocitySensors

std::vector<const SensorValue1DoFActuatorVelocity*> velocitySensors

Definition at line 15 of file device.h.

---

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

• armarx/control/common/device.h