Class actuation_subsystem

Defined in File actuation_subsystem.hpp

Inheritance Relationships

Base Type

public chal::subsystem::base_actuation_subsystem< COSM_HAL_ROBOT_AVAILABLE_ACTUATORS >

Class Documentation

class actuation_subsystem : public chal::subsystem::base_actuation_subsystem<COSM_HAL_ROBOT_AVAILABLE_ACTUATORS>

The actuation subsystem for any ROS robot.

Public Functions

inline explicit actuation_subsystem(actuator_map &&actuators)

COSM_HAL_ACTUATOR_ACCESSOR(chactuators::diagnostic_actuator, diagnostics)

COSM_HAL_ACTUATOR_ACCESSOR(chactuators::diff_drive_actuator, diff_drive_raw)

COSM_HAL_ACTUATOR_ACCESSOR(chactuators::diff_drive_actuator, locomotion)

COSM_HAL_ACTUATOR_ACCESSOR(ckin2D::governed_diff_drive, governed_diff_drive)

inline const chactuators::diagnostic_actuator *diagnostics(void) const

inline const chactuators::diff_drive_actuator *diff_drive_raw(void) const

inline const ckin2D::governed_diff_drive *governed_diff_drive(void) const

inline const chactuators::diff_drive_actuator *locomotion(void) const