actarray
[Interfaces]
Detailed Description
Actuator Array.The actuator array interface allows a user to control a set of actuators.
Classes | |
| class | ActarrayActuatorGeom |
| Actuator geometry. More... | |
| class | ActarrayActuator |
| Structure containing a single actuator's information. More... | |
| class | ActarrayData |
| The actuator array data packet. More... | |
| class | ActarrayIface |
| The Actarray interface. More... | |
Defines | |
| #define | GAZEBO_ACTARRAY_MAX_NUM_ACTUATORS 16 |
| maximum number of actuators | |
| #define | GAZEBO_ACTARRAY_JOINT_POSITION_MODE 0 |
| #define | GAZEBO_ACTARRAY_JOINT_SPEED_MODE 1 |
| #define | GAZEBO_ACTARRAY_JOINT_CURRENT_MODE 2 |
| #define | GAZEBO_ACTARRAY_ACTSTATE_IDLE 1 |
| Idle state. | |
| #define | GAZEBO_ACTARRAY_ACTSTATE_MOVING 2 |
| Moving state. | |
| #define | GAZEBO_ACTARRAY_ACTSTATE_BRAKED 3 |
| Braked state. | |
| #define | GAZEBO_ACTARRAY_ACTSTATE_STALLED 4 |
| Stalled state. | |
| #define | GAZEBO_ACTARRAY_TYPE_LINEAR 1 |
| Linear type. | |
| #define | GAZEBO_ACTARRAY_TYPE_ROTARY 2 |
| Rotary type. | |
| #define | GAZEBO_ACTARRAY_POWER_REQ 1 |
| Request subtype: power. | |
| #define | GAZEBO_ACTARRAY_BRAKES_REQ 2 |
| Request subtype: brakes. | |
| #define | GAZEBO_ACTARRAY_GET_GEOM_REQ 3 |
| Request subtype: get geometry. | |
| #define | GAZEBO_ACTARRAY_SPEED_REQ 4 |
| Request subtype: speed. | |
| #define | GAZEBO_ACTARRAY_POS_CMD 1 |
| Command subtype: position. | |
| #define | GAZEBO_ACTARRAY_SPEED_CMD 2 |
| Command subtype: speed. | |
| #define | GAZEBO_ACTARRAY_HOME_CMD 3 |
| Command subtype: home. | |