Template Class base_actuation_subsystem

• Defined in File base_actuation_subsystem.hpp

Inheritance Relationships

Base Type

• private chal::subsystem::base_subsystem

Class Documentation

template<typename ...TActuatorTypes>
class base_actuation_subsystem : private chal::subsystem::base_subsystem

Base actuation subsystem for all actuators used by all robot controllers which actuate in 2D or 3D.

Public Types

using actuator_map = actuator_variant_map<TActuatorTypes...>

using variant_type = actuator_variant<TActuatorTypes...>

Public Functions

inline explicit base_actuation_subsystem(actuator_map &&actuators)

Parameters:

actuators – Map of handles to actuation devices, indexed by typeid.

virtual ~base_actuation_subsystem(void) = default

template<typename T>
inline T *actuator(void)

template<typename T>
inline const T *actuator(void) const

inline void disable(void)

Disable all actuators.

template<typename TActuator>
inline bool replace(const TActuator &actuator)

inline void reset(void)

Reset all actuators.

Public Static Functions

template<typename TActuator>
static inline actuator_map::value_type map_entry_create(TActuator &&actuator)

Convenience function to create a actuator map create for the specified actuator to make client code cleaner.