rrbot_hw_interface.h

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/* Author: Dave Coleman
   Desc:   Example ros_control hardware interface blank template for the RRBot
           For a more detailed simulation example, see sim_hw_interface.h
*/

#ifndef RRBOT_CONTROL__RRBOT_HW_INTERFACE_H
#define RRBOT_CONTROL__RRBOT_HW_INTERFACE_H

#include <ros_control_boilerplate/generic_hw_interface.h>

namespace rrbot_control
{

class RRBotHWInterface : public ros_control_boilerplate::GenericHWInterface
{
public:
  RRBotHWInterface(ros::NodeHandle& nh, urdf::Model* urdf_model = NULL);

  virtual void read(ros::Duration &elapsed_time);

  virtual void write(ros::Duration &elapsed_time);

  virtual void enforceLimits(ros::Duration &period);

};  // class

}  // namespace

#endif