generic_hw_control_loop.h
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00034 
00035 /* Author: Dave Coleman
00036    Desc:   Example control loop for reading, updating, and writing commands to a hardware interface
00037    using MONOTOIC system time
00038 */
00039 
00040 #include <time.h>
00041 #include <ros_control_boilerplate/generic_hw_interface.h>
00042 
00043 namespace ros_control_boilerplate
00044 {
00045 // Used to convert seconds elapsed to nanoseconds
00046 static const double BILLION = 1000000000.0;
00047 
00055 class GenericHWControlLoop
00056 {
00057 public:
00063   GenericHWControlLoop(
00064       ros::NodeHandle& nh,
00065       boost::shared_ptr<ros_control_boilerplate::GenericHWInterface> hardware_interface);
00066 
00072   void update(const ros::TimerEvent& e);
00073 
00074 protected:
00075   // Startup and shutdown of the internal node inside a roscpp program
00076   ros::NodeHandle nh_;
00077 
00078   // Name of this class
00079   std::string name_ = "generic_hw_control_loop";
00080 
00081   // Settings
00082   ros::Duration desired_update_freq_;
00083   double cycle_time_error_threshold_;
00084 
00085   // Timing
00086   ros::Timer non_realtime_loop_;
00087   ros::Duration elapsed_time_;
00088   double loop_hz_;
00089   struct timespec last_time_;
00090   struct timespec current_time_;
00091 
00098   boost::shared_ptr<controller_manager::ControllerManager> controller_manager_;
00099 
00101   boost::shared_ptr<ros_control_boilerplate::GenericHWInterface> hardware_interface_;
00102 
00103 };  // end class
00104 
00105 }  // namespace


ros_control_boilerplate
Author(s): Dave Coleman
autogenerated on Thu Jun 6 2019 20:37:19