class ConstrainedJointAngle

Member values

Member name	Data type	Description
joint_identifier	uint32	Joint identifier (use device_identifier)
value	float32	Joint value (in degrees)
constraint	JointTrajectoryConstraint	Constraint to apply to the joint angle (optional)

Member functions

Function name	Return type	Input type	Description
joint_identifier()	uint32	void	Returns the current value of joint_identifier. If the joint_identifier is not set, returns 0.
set_joint_identifier()	void	uint32	Sets the value of joint_identifier. After calling this, joint_identifier() will return value.
clear_joint_identifier()	void	void	Clears the value of joint_identifier. After calling this, joint_identifier() will return 0.
value()	float32	void	Returns the current value of value. If the value is not set, returns 0.
set_value()	void	float32	Sets the value of value. After calling this, value() will return value.
clear_value()	void	void	Clears the value of value. After calling this, value() will return 0.
has_constraint() const	bool	void	Returns true if constraint is set.
constraint()	const JointTrajectoryConstraint&	void	Returns the current value of constraint. If constraint is not set, returns a JointTrajectoryConstraint with none of its fields set (possibly constraint::default_instance()).
mutable_constraint()	JointTrajectoryConstraint *	void	Returns a pointer to the mutable JointTrajectoryConstraint object that stores the field's value. If the field was not set prior to the call, then the returned JointTrajectoryConstraint will have none of its fields set (i.e. it will be identical to a newly-allocated JointTrajectoryConstraint). After calling this, has_constraint() will return true and constraint() will return a reference to the same instance of JointTrajectoryConstraint.
clear_constraint()	void	void	Clears the value of the field. After calling this, has_constraint() will return false and constraint() will return the default value.
set_allocated_constraint()	void	JointTrajectoryConstraint *	Sets the JointTrajectoryConstraint object to the field and frees the previous field value if it exists. If the JointTrajectoryConstraint pointer is not NULL, the message takes ownership of the allocated JointTrajectoryConstraint object and has_ JointTrajectoryConstraint() will return true. Otherwise, if the constraint is NULL, the behavior is the same as calling clear_constraint().
release_constraint()	JointTrajectoryConstraint *	void	Releases the ownership of the field and returns the pointer of the JointTrajectoryConstraint object. After calling this, caller takes the ownership of the allocated JointTrajectoryConstraint object, has_constraint() will return false, and constraint() will return the default value.

Parent topic: Base (C++)