robot_hw_sim.h
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00036 
00038 
00041 
00042 #ifndef __ROS_CONTROL_GAZEBO_ROBOT_HW_SIM_H
00043 #define __ROS_CONTROL_GAZEBO_ROBOT_HW_SIM_H
00044 
00045 #include <gazebo/physics/physics.hh>
00046 #include <ros/ros.h>
00047 #include <hardware_interface/robot_hw.h>
00048 #include <transmission_interface/transmission_info.h>
00049 #include <urdf/model.h>
00050 
00051 namespace gazebo_ros_control {
00052 
00053   // Struct for passing loaded joint data
00054   struct JointData 
00055   {
00056     std::string name_;
00057     std::string hardware_interface_;
00058 
00059     JointData(const std::string& name, const std::string& hardware_interface) :
00060       name_(name),
00061       hardware_interface_(hardware_interface)
00062     {}
00063   };
00064 
00068   class RobotHWSim : public hardware_interface::RobotHW 
00069   {
00070   public:
00071 
00072     virtual ~RobotHWSim() { }
00073 
00085     virtual bool initSim(
00086         const std::string& robot_namespace,
00087         ros::NodeHandle model_nh, 
00088         gazebo::physics::ModelPtr parent_model,
00089         const urdf::Model *const urdf_model,
00090         std::vector<transmission_interface::TransmissionInfo> transmissions) = 0;
00091 
00098     virtual void readSim(ros::Time time, ros::Duration period) = 0;
00099 
00106     virtual void writeSim(ros::Time time, ros::Duration period) = 0;
00107 
00113     virtual void eStopActive(const bool active) {}
00114 
00115   };
00116 
00117 }
00118 
00119 #endif // ifndef __ROS_CONTROL_GAZEBO_ROBOT_HW_SIM_H


gazebo_ros_control
Author(s): Jonathan Bohren, Dave Coleman
autogenerated on Thu Feb 23 2017 03:43:51