rrbot_hw_interface.h
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00034 
00035 /* Author: Dave Coleman
00036    Desc:   Example ros_control hardware interface blank template for the RRBot
00037            For a more detailed simulation example, see sim_hw_interface.h
00038 */
00039 
00040 #ifndef RRBOT_CONTROL__RRBOT_HW_INTERFACE_H
00041 #define RRBOT_CONTROL__RRBOT_HW_INTERFACE_H
00042 
00043 #include <ros_control_boilerplate/generic_hw_interface.h>
00044 
00045 namespace rrbot_control
00046 {
00047 
00049 class RRBotHWInterface : public ros_control_boilerplate::GenericHWInterface
00050 {
00051 public:
00056   RRBotHWInterface(ros::NodeHandle& nh, urdf::Model* urdf_model = NULL);
00057 
00059   virtual void read(ros::Duration &elapsed_time);
00060 
00062   virtual void write(ros::Duration &elapsed_time);
00063 
00065   virtual void enforceLimits(ros::Duration &period);
00066 
00067 };  // class
00068 
00069 }  // namespace
00070 
00071 #endif


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