SRC-4962 Add command effort type #115
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4 tasks
toliver
requested changes
Jul 1, 2021
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| bool enable_; //!< Enable this actuator | ||
| double effort_; //!< Force to apply (in Nm) | ||
| double effort_; //!< Effor to apply, unit depends on effort_command_type_ field |
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Typo in the comment "effor"
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Fixed in fa9de9e.
| double effort_; //!< Effor to apply, unit depends on effort_command_type_ field | ||
| EffortCommandType effort_command_type_; //!< Type of effort in effort_ field | ||
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| void set_effort_command(double effort, EffortCommandType effort_command_type) |
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Do we need a set method? None of the other fields have one.
Maybe it's better to keep the style uniform?
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Idea was for all new code to use setter method because both fields should be set at the same time. Happy to remove it.
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Proposed changes
Add command effort type. It allows controllers to indicate type of effort commands for actuators.
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