joint_.setCommand(commanded_effort) in the joint_position_controller

edit

Hi, I have same question now, but I read the code, and found that command is written into pointer cmd_, and this pointer is defined when the constructor of JointHandle is called.

Then the class, JointHandle, will be registered, so I think this is the way that controller builds connection with the hardware interface.

I'm not sure what I said above is correct, but I think it may help.

That is the implementation of the setCommand method. It's just written on one line. Maybe it'll be clearer if it's separated out onto multiple lines

void setCommand(double command)
{
    assert(cmd_);
    *cmd_ = command;
}

Many times, if a method is short, it's implementation is left in a header (*.h) file.