Robotics Library  0.7.0
JointTorqueActuator.h
Go to the documentation of this file.
1 //
2 // Copyright (c) 2009, Markus Rickert
3 // All rights reserved.
4 //
5 // Redistribution and use in source and binary forms, with or without
6 // modification, are permitted provided that the following conditions are met:
7 //
8 // * Redistributions of source code must retain the above copyright notice,
9 // this list of conditions and the following disclaimer.
10 // * Redistributions in binary form must reproduce the above copyright notice,
11 // this list of conditions and the following disclaimer in the documentation
12 // and/or other materials provided with the distribution.
13 //
14 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
15 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
16 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
17 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
18 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
19 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
20 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
21 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
22 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
23 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
24 // POSSIBILITY OF SUCH DAMAGE.
25 //
26 
27 #ifndef RL_HAL_JOINTTORQUEACTUATOR_H
28 #define RL_HAL_JOINTTORQUEACTUATOR_H
29 
30 #include <rl/math/Vector.h>
31 
32 #include "AxisController.h"
33 
34 namespace rl
35 {
36  namespace hal
37  {
38  class JointTorqueActuator : public virtual AxisController
39  {
40  public:
41  JointTorqueActuator(const ::std::size_t& dof);
42 
43  virtual ~JointTorqueActuator();
44 
45  virtual void setJointTorque(const ::rl::math::Vector& tau) = 0;
46 
47  protected:
48 
49  private:
50 
51  };
52  }
53 }
54 
55 #endif // RL_HAL_JOINTTORQUEACTUATOR_H
rl::hal::JointTorqueActuator::setJointTorque
virtual void setJointTorque(const ::rl::math::Vector &tau)=0
rl::hal::JointTorqueActuator::~JointTorqueActuator
virtual ~JointTorqueActuator()
Definition: JointTorqueActuator.cpp:38
rl::math::Vector
::Eigen::Matrix< Real, ::Eigen::Dynamic, 1 > Vector
Definition: Vector.h:42
Vector.h
rl::hal::JointTorqueActuator::JointTorqueActuator
JointTorqueActuator(const ::std::size_t &dof)
Definition: JointTorqueActuator.cpp:33
rl::hal::AxisController::dof
::std::size_t dof
Degrees of freedom.
Definition: AxisController.h:52
AxisController.h
rl::hal::AxisController
Definition: AxisController.h:40
rl::hal::JointTorqueActuator
Definition: JointTorqueActuator.h:39
rl
Robotics Library.
Definition: AnalogInput.cpp:30