effort_test_controller.cpp
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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 #include <controller_manager_tests/effort_test_controller.h>
00030 
00031 using namespace controller_manager_tests;
00032 
00033 bool EffortTestController::init(hardware_interface::EffortJointInterface* hw, ros::NodeHandle& n)
00034 {
00035   // get all joint states from the hardware interface
00036   // const std::vector<std::string>& joint_names = hw->getJointNames();
00037   // for (unsigned i=0; i<joint_names.size(); i++)
00038   //  ROS_INFO("Got joint %s", joint_names[i].c_str());
00039   std::vector<std::string> joint_names;
00040 
00041   if (!n.getParam("joints", joint_names))
00042   {
00043     joint_names.push_back("hiDOF_joint1");
00044     joint_names.push_back("hiDOF_joint2");
00045   }
00046 
00047   for (unsigned i=0; i<joint_names.size(); i++)
00048     joint_effort_commands_.push_back(hw->getHandle(joint_names[i]));
00049 
00050   return true;
00051 }
00052 
00053 void EffortTestController::starting(const ros::Time& /*time*/)
00054 {
00055   ROS_INFO("Starting JointState Controller");
00056 }
00057 
00058 void EffortTestController::update(const ros::Time& /*time*/, const ros::Duration& /*period*/)
00059 {
00060   for (unsigned int i=0; i < joint_effort_commands_.size(); i++)
00061   {
00062 
00063   }
00064 }
00065 
00066 void EffortTestController::stopping(const ros::Time& /*time*/)
00067 {
00068   ROS_INFO("Stopping JointState Controller");
00069 }
00070 
00071 PLUGINLIB_EXPORT_CLASS( controller_manager_tests::EffortTestController, controller_interface::ControllerBase)


controller_manager_tests
Author(s): Vijay Pradeep
autogenerated on Sat Jun 8 2019 20:09:25