Adapter for a position-controlled hardware interface. Forwards desired positions as commands. More...
#include <hardware_interface_adapter.h>
Public Member Functions | |
HardwareInterfaceAdapter () | |
bool | init (std::vector< hardware_interface::JointHandle > &joint_handles, ros::NodeHandle &controller_nh) |
void | starting (const ros::Time &time) |
void | stopping (const ros::Time &time) |
void | updateCommand (const ros::Time &, const ros::Duration &, const State &desired_state, const State &) |
Private Attributes | |
std::vector < hardware_interface::JointHandle > * | joint_handles_ptr_ |
Adapter for a position-controlled hardware interface. Forwards desired positions as commands.
Definition at line 76 of file hardware_interface_adapter.h.
HardwareInterfaceAdapter< hardware_interface::PositionJointInterface, State >::HardwareInterfaceAdapter | ( | ) | [inline] |
Definition at line 79 of file hardware_interface_adapter.h.
bool HardwareInterfaceAdapter< hardware_interface::PositionJointInterface, State >::init | ( | std::vector< hardware_interface::JointHandle > & | joint_handles, |
ros::NodeHandle & | controller_nh | ||
) | [inline] |
Definition at line 81 of file hardware_interface_adapter.h.
void HardwareInterfaceAdapter< hardware_interface::PositionJointInterface, State >::starting | ( | const ros::Time & | time | ) | [inline] |
Definition at line 89 of file hardware_interface_adapter.h.
void HardwareInterfaceAdapter< hardware_interface::PositionJointInterface, State >::stopping | ( | const ros::Time & | time | ) | [inline] |
Definition at line 90 of file hardware_interface_adapter.h.
void HardwareInterfaceAdapter< hardware_interface::PositionJointInterface, State >::updateCommand | ( | const ros::Time & | , |
const ros::Duration & | , | ||
const State & | desired_state, | ||
const State & | |||
) | [inline] |
Definition at line 92 of file hardware_interface_adapter.h.
std::vector<hardware_interface::JointHandle>* HardwareInterfaceAdapter< hardware_interface::PositionJointInterface, State >::joint_handles_ptr_ [private] |
Definition at line 103 of file hardware_interface_adapter.h.