Program Listing for File scaled_mimic.h

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// Author: Michael Ferguson

#ifndef ROBOT_CONTROLLERS__SCALED_MIMIC_H_
#define ROBOT_CONTROLLERS__SCALED_MIMIC_H_

#include <string>
#include <vector>

#include "rclcpp/rclcpp.hpp"
#include "robot_controllers_interface/controller.h"
#include "robot_controllers_interface/joint_handle.h"
#include "robot_controllers_interface/controller_manager.h"

namespace robot_controllers
{

class ScaledMimicController : public robot_controllers_interface::Controller
{
public:
  ScaledMimicController() : initialized_(false) {}
  virtual ~ScaledMimicController() {}

  virtual int init(const std::string& name,
                   rclcpp::Node::SharedPtr node,
                   robot_controllers_interface::ControllerManagerPtr manager);

  virtual bool start();

  virtual bool stop(bool force);

  virtual bool reset();

  virtual void update(const rclcpp::Time& now, const rclcpp::Duration& dt);

  virtual std::string getType()
  {
    return "robot_controllers/ScaledMimicController";
  }

  virtual std::vector<std::string> getCommandedNames();

  virtual std::vector<std::string> getClaimedNames();

private:
  bool initialized_;
  robot_controllers_interface::JointHandlePtr joint_to_mimic_;
  robot_controllers_interface::JointHandlePtr joint_to_control_;
  double scale_;
};

}  // namespace robot_controllers

#endif  // ROBOT_CONTROLLERS__SCALED_MIMIC_H_