IiwaControlPorts Struct Reference

Detailed Description

The return type of BuildSimplifiedIiwaControl().

Depending on the control_mode, some of the input ports might be null. The output ports are never null.

#include <drake/manipulation/kuka_iiwa/build_iiwa_control.h>

Public Attributes
const systems::InputPort< double > *	commanded_positions {}
	This will be non-null iff the control_mode denotes commanded positions. More...
const systems::InputPort< double > *	commanded_torque {}
	This will be non-null iff the control_mode denotes commanded torques. More...
const systems::OutputPort< double > *	position_commanded {}
const systems::OutputPort< double > *	position_measured {}
const systems::OutputPort< double > *	velocity_estimated {}
const systems::OutputPort< double > *	joint_torque {}
const systems::OutputPort< double > *	torque_measured {}
const systems::OutputPort< double > *	external_torque {}

Member Data Documentation

commanded_positions

const systems::InputPort<double>* commanded_positions {}

This will be non-null iff the control_mode denotes commanded positions.

commanded_torque

const systems::InputPort<double>* commanded_torque {}

This will be non-null iff the control_mode denotes commanded torques.

external_torque

const systems::OutputPort<double>* external_torque {}

joint_torque

const systems::OutputPort<double>* joint_torque {}

position_commanded

const systems::OutputPort<double>* position_commanded {}

position_measured

const systems::OutputPort<double>* position_measured {}

torque_measured

const systems::OutputPort<double>* torque_measured {}

velocity_estimated

const systems::OutputPort<double>* velocity_estimated {}

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

• drake/manipulation/kuka_iiwa/build_iiwa_control.h