Member values
| Member name | Data type | Description |
|---|---|---|
| command_id | MessageId | MessageId |
| flags | uint32 | Command flags (see enum CommandFlags) |
| position | float32 | Desired position of the actuator (degrees) |
| velocity | float32 | Desired velocity of the actuator (degrees per second) |
| torque_joint | float32 | Desired torque of the actuator (Newton-meters) |
| current_motor | float32 | Desired current of the motor (Amperes) |
Member functions
| Function name | Return type | Input type | Description |
|---|---|---|---|
| has_command_id() const | bool | void | Returns true if command_id is set. |
| command_id() | const MessageId& | void | Returns the current value of command_id. If command_id is not set, returns a MessageId with none of its fields set (possibly command_id::default_instance()). |
| mutable_command_id() | MessageId * | void | Returns a pointer to the mutable MessageId object that stores the field's value. If the field was not set prior to the call, then the returned MessageId will have none of its fields set (i.e. it will be identical to a newly-allocated MessageId). After calling this, has_command_id() will return true and command_id() will return a reference to the same instance of MessageId. |
| clear_command_id() | void | void | Clears the value of the field. After calling this, has_command_id() will return false and command_id() will return the default value. |
| set_allocated_command_id() | void | MessageId * | Sets the MessageId object to the field and frees the previous field value if it exists. If the MessageId pointer is not NULL, the message takes ownership of the allocated MessageId object and has_ MessageId() will return true. Otherwise, if the command_id is NULL, the behavior is the same as calling clear_command_id(). |
| release_command_id() | MessageId * | void | Releases the ownership of the field and returns the pointer of the MessageId object. After calling this, caller takes the ownership of the allocated MessageId object, has_command_id() will return false, and command_id() will return the default value. |
| flags() | uint32 | void | Returns the current value of flags. If the flags is not set, returns 0. |
| set_flags() | void | uint32 | Sets the value of flags. After calling this, flags() will return value. |
| clear_flags() | void | void | Clears the value of flags. After calling this, flags() will return 0. |
| position() | float32 | void | Returns the current value of position. If the position is not set, returns 0. |
| set_position() | void | float32 | Sets the value of position. After calling this, position() will return value. |
| clear_position() | void | void | Clears the value of position. After calling this, position() will return 0. |
| velocity() | float32 | void | Returns the current value of velocity. If the velocity is not set, returns 0. |
| set_velocity() | void | float32 | Sets the value of velocity. After calling this, velocity() will return value. |
| clear_velocity() | void | void | Clears the value of velocity. After calling this, velocity() will return 0. |
| torque_joint() | float32 | void | Returns the current value of torque_joint. If the torque_joint is not set, returns 0. |
| set_torque_joint() | void | float32 | Sets the value of torque_joint. After calling this, torque_joint() will return value. |
| clear_torque_joint() | void | void | Clears the value of torque_joint. After calling this, torque_joint() will return 0. |
| current_motor() | float32 | void | Returns the current value of current_motor. If the current_motor is not set, returns 0. |
| set_current_motor() | void | float32 | Sets the value of current_motor. After calling this, current_motor() will return value. |
| clear_current_motor() | void | void | Clears the value of current_motor. After calling this, current_motor() will return 0. |
Parent topic: ActuatorCyclic (C++)