lbr_fri_ros2::TorqueCommandInterface Class Reference

Inheritance diagram for lbr_fri_ros2::TorqueCommandInterface:

Collaboration diagram for lbr_fri_ros2::TorqueCommandInterface:

Public Member Functions
	TorqueCommandInterface (const double &joint_position_tau, const CommandGuardParameters &command_guard_parameters, const std::string &command_guard_variant="default")
void	buffered_command_to_fri (fri_command_t_ref command, const_idl_state_t_ref state) override
Public Member Functions inherited from lbr_fri_ros2::BaseCommandInterface
	BaseCommandInterface (const double &joint_position_tau, const CommandGuardParameters &command_guard_parameters, const std::string &command_guard_variant="default")
void	buffer_command_target (const_idl_command_t_ref command)
void	init_command (const_idl_state_t_ref state)
idl_command_t	get_command () const
void	log_info () const

Protected Member Functions
std::string	LOGGER_NAME () const override
Protected Member Functions inherited from lbr_fri_ros2::BaseCommandInterface
void	neutralize_command_ (const_idl_state_t_ref state, idl_command_t_ref command)

Additional Inherited Members
Protected Attributes inherited from lbr_fri_ros2::BaseCommandInterface
std::mutex	command_mutex_
bool	command_initialized_
std::unique_ptr< CommandGuard >	command_guard_
ExponentialFilterArray< N_JNTS >	joint_position_filter_
idl_command_t	command_
idl_command_t	command_target_

Member Function Documentation

buffered_command_to_fri()

void lbr_fri_ros2::TorqueCommandInterface::buffered_command_to_fri ( fri_command_t_ref  command, const_idl_state_t_ref  state  )

overridevirtual

Implements lbr_fri_ros2::BaseCommandInterface.

LOGGER_NAME()

std::string lbr_fri_ros2::TorqueCommandInterface::LOGGER_NAME ( ) const

inlineoverrideprotectedvirtual

Implements lbr_fri_ros2::BaseCommandInterface.

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

• lbr_fri_ros2_stack/lbr_fri_ros2/include/lbr_fri_ros2/interfaces/torque_command.hpp
• lbr_fri_ros2_stack/lbr_fri_ros2/src/interfaces/torque_command.cpp