Enum robot_description_builder::transmission::TransmissionHardwareInterface

#[non_exhaustive]
pub enum TransmissionHardwareInterface {
    JointCommandInterface,
    EffortJointInterface,
    VelocityJointInterface,
    PositionJointInterface,
    JointStateInterface,
    ActuatorStateInterface,
    EffortActuatorInterface,
    VelocityActuatorInterface,
    PositionActuatorInterface,
    PosVelJointInterface,
    PosVelAccJointInterface,
    ForceTorqueSensorInterface,
    IMUSensorInterface,
}

http://wiki.ros.org/ros_control#Hardware_Interfaces

This is really vague and confusion

https://docs.ros.org/en/noetic/api/transmission_interface/html/c++/classtransmission__interface_1_1TransmissionInterfaceLoader.html#details https://github.com/ros-controls/ros_control/wiki/hardware_interface#hardware-interfaces

TODO: Maybe add other variant with argument

https://github.com/ros-controls/ros_control/wiki/hardware_interface

gazebo_ros_control does not support multiple HardwareInterfaces for a Joint in one transmission https://answers.ros.org/question/235040/gazebo_ros_control-lwa4p/

Variants (Non-exhaustive)

Non-exhaustive enums could have additional variants added in future. Therefore, when matching against variants of non-exhaustive enums, an extra wildcard arm must be added to account for any future variants.

JointCommandInterface

TODO: THIS MIGHT BE A CATEGORY

EffortJointInterface

TODO: DOCS Supported in Gazebo ROS by gazebo_ros_control Source

VelocityJointInterface

TODO: DOCS Supported in Gazebo ROS by gazebo_ros_control. It states it is not fully implemented Source

PositionJointInterface

JointStateInterface

Joint State Interfaces: Hardware interface to support reading the state of an array of named joints, each of which has some position, velocity, and effort (force or torque). Supported in Gazebo ROS by gazebo_ros_control Source

ActuatorStateInterface

Actuator State Interfaces: Hardware interface to support reading the state of an array of named actuators, each of which has some position, velocity, and effort (force or torque). TODO: THIS MIGHT BE A CATEGORY

EffortActuatorInterface

Actuator Command Interfaces

VelocityActuatorInterface

Actuator Command Interfaces

PositionActuatorInterface

Actuator Command Interfaces

PosVelJointInterface

https://github.com/ros-controls/ros_control/blob/noetic-devel/hardware_interface/include/hardware_interface/posvel_command_interface.h

PosVelAccJointInterface

https://github.com/ros-controls/ros_control/blob/noetic-devel/hardware_interface/include/hardware_interface/posvelacc_command_interface.h

ForceTorqueSensorInterface

https://github.com/ros-controls/ros_control/blob/noetic-devel/hardware_interface/include/hardware_interface/force_torque_sensor_interface.h

IMUSensorInterface

https://github.com/ros-controls/ros_control/blob/noetic-devel/hardware_interface/include/hardware_interface/imu_sensor_interface.h

Trait Implementations

impl Clone for TransmissionHardwareInterface

fn clone(&self) -> TransmissionHardwareInterface

Returns a copy of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for TransmissionHardwareInterface

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl PartialEq<TransmissionHardwareInterface> for TransmissionHardwareInterface

fn eq(&self, other: &TransmissionHardwareInterface) -> bool

This method tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

This method tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl ToURDF for TransmissionHardwareInterface

fn to_urdf( &self, writer: &mut Writer<Cursor<Vec<u8>>>, urdf_config: &URDFConfig ) -> Result<(), Error>

Represents the element as in URDF format.

impl Copy for TransmissionHardwareInterface

impl Eq for TransmissionHardwareInterface

impl StructuralEq for TransmissionHardwareInterface

impl StructuralPartialEq for TransmissionHardwareInterface