moveit_sim_hw_interface.h
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00034 
00035 /* Author: Dave Coleman <dave@dav.ee>
00036    Desc:   Simulates a robot using ros_control controllers
00037 */
00038 
00039 #ifndef MOVEIT_SIM_CONTROLLER_MOVEIT_SIM_HW_INTERFACE_H
00040 #define MOVEIT_SIM_CONTROLLER_MOVEIT_SIM_HW_INTERFACE_H
00041 
00042 // C++
00043 #include <string>
00044 
00045 // ROS
00046 #include <ros/ros.h>
00047 #include <ros_control_boilerplate/sim_hw_interface.h>
00048 #include <moveit/robot_state/robot_state.h>
00049 #include <moveit/robot_model_loader/robot_model_loader.h>
00050 
00051 namespace moveit_sim_controller
00052 {
00053 static const std::string ROBOT_DESCRIPTION = "robot_description";
00054 
00055 class MoveItSimHWInterface : public ros_control_boilerplate::SimHWInterface
00056 {
00057 public:
00061   explicit MoveItSimHWInterface(ros::NodeHandle& nh, urdf::Model* urdf_model = NULL);
00062 
00064   void init();
00065 
00066   void loadDefaultJointValues();
00067 
00068 private:
00069   std::string name_;
00070 
00071   std::string joint_model_group_;
00072   std::string joint_model_group_pose_;
00073 
00074   // Note: this doesn't need to be a member variable (only used once) but there are warnings about
00075   // unloading shared objects so this is a work around at least for now
00076   robot_model_loader::RobotModelLoaderPtr robot_model_loader_;
00077 };  // class
00078 
00079 // Create boost pointers for this class
00080 typedef boost::shared_ptr<MoveItSimHWInterface> MoveItSimHWInterfacePtr;
00081 typedef boost::shared_ptr<const MoveItSimHWInterface> MoveItSimHWInterfaceConstPtr;
00082 
00083 }  // namespace moveit_sim_controller
00084 
00085 #endif  // MOVEIT_SIM_CONTROLLER_MOVEIT_SIM_HW_INTERFACE_H


moveit_sim_controller
Author(s): Dave Coleman
autogenerated on Thu Jun 6 2019 19:11:45