Class VelocityTopicCommandTerm

Defined in File CommandManager.h

Inheritance Relationships

Base Type

public legged::CommandTerm (Class CommandTerm)

Class Documentation

class VelocityTopicCommandTerm : public legged::CommandTerm 

Public Types

using Twist = geometry_msgs::msg::TwistStamped

Public Functions

inline VelocityTopicCommandTerm(rclcpp_lifecycle::LifecycleNode::SharedPtr node, const std::string &topicName)

inline virtual vector_t getValue() override

inline virtual void reset() override

inline virtual size_t getSize() const override

Protected Attributes

rclcpp_lifecycle::LifecycleNode::SharedPtr node_

rclcpp::Subscription<Twist>::SharedPtr subscriber_

realtime_tools::RealtimeBox<std::shared_ptr<Twist>> receivedMsg_