class Command

Member values

Member name	Data type	Description
command_id	MessageId	MessageId
flags	uint32	Command flags (see enum CommandFlags)
position	float32	Desired position of the actuator (degrees)
velocity	float32	Desired velocity of the actuator (degrees per second)
torque_joint	float32	Desired torque of the actuator (Newton-meters)
current_motor	float32	Desired current of the motor (Amperes)

Member functions

Function name	Return type	Input type	Description
has_command_id() const	bool	void	Returns true if command_id is set.
command_id()	const MessageId&	void	Returns the current value of command_id. If command_id is not set, returns a MessageId with none of its fields set (possibly command_id::default_instance()).
mutable_command_id()	MessageId *	void	Returns a pointer to the mutable MessageId object that stores the field's value. If the field was not set prior to the call, then the returned MessageId will have none of its fields set (i.e. it will be identical to a newly-allocated MessageId). After calling this, has_command_id() will return true and command_id() will return a reference to the same instance of MessageId.
clear_command_id()	void	void	Clears the value of the field. After calling this, has_command_id() will return false and command_id() will return the default value.
set_allocated_command_id()	void	MessageId *	Sets the MessageId object to the field and frees the previous field value if it exists. If the MessageId pointer is not NULL, the message takes ownership of the allocated MessageId object and has_ MessageId() will return true. Otherwise, if the command_id is NULL, the behavior is the same as calling clear_command_id().
release_command_id()	MessageId *	void	Releases the ownership of the field and returns the pointer of the MessageId object. After calling this, caller takes the ownership of the allocated MessageId object, has_command_id() will return false, and command_id() will return the default value.
flags()	uint32	void	Returns the current value of flags. If the flags is not set, returns 0.
set_flags()	void	uint32	Sets the value of flags. After calling this, flags() will return value.
clear_flags()	void	void	Clears the value of flags. After calling this, flags() will return 0.
position()	float32	void	Returns the current value of position. If the position is not set, returns 0.
set_position()	void	float32	Sets the value of position. After calling this, position() will return value.
clear_position()	void	void	Clears the value of position. After calling this, position() will return 0.
velocity()	float32	void	Returns the current value of velocity. If the velocity is not set, returns 0.
set_velocity()	void	float32	Sets the value of velocity. After calling this, velocity() will return value.
clear_velocity()	void	void	Clears the value of velocity. After calling this, velocity() will return 0.
torque_joint()	float32	void	Returns the current value of torque_joint. If the torque_joint is not set, returns 0.
set_torque_joint()	void	float32	Sets the value of torque_joint. After calling this, torque_joint() will return value.
clear_torque_joint()	void	void	Clears the value of torque_joint. After calling this, torque_joint() will return 0.
current_motor()	float32	void	Returns the current value of current_motor. If the current_motor is not set, returns 0.
set_current_motor()	void	float32	Sets the value of current_motor. After calling this, current_motor() will return value.
clear_current_motor()	void	void	Clears the value of current_motor. After calling this, current_motor() will return 0.

Parent topic: ActuatorCyclic (C++)