Program Listing for File scaled_joint_trajectory_controller.hpp

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// Copyright 2019, FZI Forschungszentrum Informatik
//
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//----------------------------------------------------------------------
//----------------------------------------------------------------------
#ifndef UR_CONTROLLERS__SCALED_JOINT_TRAJECTORY_CONTROLLER_HPP_
#define UR_CONTROLLERS__SCALED_JOINT_TRAJECTORY_CONTROLLER_HPP_

#include "angles/angles.h"
#include "joint_trajectory_controller/joint_trajectory_controller.hpp"
#include "joint_trajectory_controller/trajectory.hpp"
#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
#include "rclcpp/time.hpp"
#include "rclcpp/duration.hpp"
#include "scaled_joint_trajectory_controller_parameters.hpp"

namespace ur_controllers
{
class ScaledJointTrajectoryController : public joint_trajectory_controller::JointTrajectoryController
{
public:
  ScaledJointTrajectoryController() = default;
  ~ScaledJointTrajectoryController() override = default;

  controller_interface::InterfaceConfiguration state_interface_configuration() const override;

  controller_interface::CallbackReturn on_activate(const rclcpp_lifecycle::State& state) override;

  controller_interface::return_type update(const rclcpp::Time& time, const rclcpp::Duration& period) override;

  CallbackReturn on_init() override;

protected:
  struct TimeData
  {
    TimeData() : time(0.0), period(rclcpp::Duration::from_nanoseconds(0.0)), uptime(0.0)
    {
    }
    rclcpp::Time time;
    rclcpp::Duration period;
    rclcpp::Time uptime;
  };

private:
  double scaling_factor_{};
  realtime_tools::RealtimeBuffer<TimeData> time_data_;

  std::shared_ptr<scaled_joint_trajectory_controller::ParamListener> scaled_param_listener_;
  scaled_joint_trajectory_controller::Params scaled_params_;
};
}  // namespace ur_controllers

#endif  // UR_CONTROLLERS__SCALED_JOINT_TRAJECTORY_CONTROLLER_HPP_