Position command. More...

#include <PositionCommand.h>

Public Attributes
double	position = 0.0
	Target position in revolutions.

double	velocity = 0.0
	Target velocity in rev/s.

double	feedforward_torque = 0.0
	Feedforward torque in N⋅m.

double	kp_scale = 1.0
	Proportional gain scaling factor.

double	kd_scale = 1.0
	Derivative gain scaling factor.

double	maximum_torque = 0.0
	Maximum torque limit in N⋅m.

double	stop_position = std::numeric_limits<double>::quiet_NaN()
	Stop position in revolutions.

double	watchdog_timeout = 0.0
	Watchdog timeout in seconds.

Detailed Description

Position command.

Note: Default values here are also the initial joint values for the mock interface.

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

Public Attributes