my_robot_hw.h
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00001 
00002 // Copyright (C) 2012, hiDOF INC.
00003 //
00004 // Redistribution and use in source and binary forms, with or without
00005 // modification, are permitted provided that the following conditions are met:
00006 //   * Redistributions of source code must retain the above copyright notice,
00007 //     this list of conditions and the following disclaimer.
00008 //   * Redistributions in binary form must reproduce the above copyright
00009 //     notice, this list of conditions and the following disclaimer in the
00010 //     documentation and/or other materials provided with the distribution.
00011 //   * Neither the name of hiDOF, Inc. nor the names of its
00012 //     contributors may be used to endorse or promote products derived from
00013 //     this software without specific prior written permission.
00014 //
00015 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00016 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00017 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00018 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00019 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00020 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00021 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00022 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00023 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00024 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00025 // POSSIBILITY OF SUCH DAMAGE.
00027 
00028 /*
00029  * Author: Wim Meeussen
00030  */
00031 
00032 
00033 #ifndef CONTROLLER_MANAGER_TESTS_MY_ROBOT_HW_H
00034 #define CONTROLLER_MANAGER_TESTS_MY_ROBOT_HW_H
00035 
00036 #include <hardware_interface/joint_command_interface.h>
00037 #include <hardware_interface/robot_hw.h>
00038 
00039 namespace controller_manager_tests
00040 {
00041 
00042 class MyRobotHW : public hardware_interface::RobotHW
00043 {
00044 public:
00045   MyRobotHW();
00046 
00047   void read();
00048   void write();
00049 
00050 protected:
00051 
00052 private:
00053   hardware_interface::JointStateInterface    js_interface_;
00054   hardware_interface::EffortJointInterface   ej_interface_;
00055   hardware_interface::VelocityJointInterface vj_interface_;
00056 
00057   std::vector<double> joint_effort_command_;
00058   std::vector<double> joint_velocity_command_;
00059   std::vector<double> joint_position_;
00060   std::vector<double> joint_velocity_;
00061   std::vector<double> joint_effort_;
00062   std::vector<std::string> joint_name_;
00063 };
00064 }
00065 
00066 
00067 #endif


controller_manager_tests
Author(s): Vijay Pradeep
autogenerated on Fri Aug 28 2015 12:36:21