class JointTorques

Member values

Member name	Data type	Description
joint_torques	JointTorque	Array of joint torque.
duration	uint32	Duration constraint. If not 0, allows to set a limit (in seconds) common to every joint specified in 'joint_torques' (not implemented yet)

Member functions

Function name	Return type	Input type	Description
joint_torques_size() const	int	void	Returns the number of elements currently in the field.
joint_torques() const	const JointTorque	int index	Returns the element at the given zero-based index. Calling this method with index outside of [0, joint_torques_size()) yields undefined behavior.
mutable_joint_torques()	JointTorque*	int index	Returns a pointer to the mutable JointTorque object that stores the value of the element at the given zero-based index. Calling this method with index outside of [0, joint_torques_size()) yields undefined behavior.
add_joint_torques()	JointTorque*	void	Adds a new element and returns a pointer to it. The returned JointTorque is mutable and will have none of its fields set (i.e. it will be identical to a newly-allocated JointTorque).
clear_joint_torques()	void	void	Removes all elements from the field. After calling this, joint_torques_size() will return zero.
joint_torques() const	const RepeatedPtrField< JointTorque>&	void	Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.
mutable_joint_torques()	RepeatedPtrField< JointTorque>*	void	Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.
duration()	uint32	void	Returns the current value of duration. If the duration is not set, returns 0.
set_duration()	void	uint32	Sets the value of duration. After calling this, duration() will return value.
clear_duration()	void	void	Clears the value of duration. After calling this, duration() will return 0.

Parent topic: Base (C++)