joint_group_position_controller.cpp

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#include <position_controllers/joint_group_position_controller.h>
#include <pluginlib/class_list_macros.h>

template <class T>
void forward_command_controller::ForwardJointGroupCommandController<T>::starting(const ros::Time& time)
{
  // Start controller with current joint positions
  std::vector<double> & commands = *commands_buffer_.readFromRT();
  for(unsigned int i=0; i<joints_.size(); i++)
  {
    commands[i]=joints_[i].getPosition();
  }
}


PLUGINLIB_EXPORT_CLASS(position_controllers::JointGroupPositionController,controller_interface::ControllerBase)