Class robot_fingers::SimpleNJointBlmcRobotDriver

template<size_t N_JOINTS, size_t N_MOTOR_BOARDS = (N_JOINTS + 1) / 2>
class SimpleNJointBlmcRobotDriver : public robot_fingers::NJointBlmcRobotDriver<robot_interfaces::NJointObservation<N_JOINTS>, N_JOINTS, (N_JOINTS + 1) / 2>, public robot_fingers::NJointBlmcRobotDriver<robot_interfaces::NJointObservation<N_JOINTS>, N_JOINTS, (N_JOINTS + 1) / 2>

Simple n-joint robot driver that uses NJointObservation.

Template Parameters:

• N_JOINTS – Number of joints

• N_MOTOR_BOARDS – Number of motor boards.

Public Types

typedef robot_interfaces::NJointObservation<N_JOINTS> Observation

typedef robot_interfaces::NJointObservation<N_JOINTS> Observation

Public Functions

virtual Observation get_latest_observation() override

virtual Observation get_latest_observation() override