HardwareInterfaceAdapter< hardware_interface::PositionJointInterface, State > Class Template Reference

Adapter for a position-controlled hardware interface. Forwards desired positions as commands. More...

#include <hardware_interface_adapter.h>

List of all members.

Public Member Functions
	HardwareInterfaceAdapter ()
bool	init (std::vector< hardware_interface::JointHandle > &joint_handles, ros::NodeHandle &)
void	starting (const ros::Time &)
void	stopping (const ros::Time &)
void	updateCommand (const ros::Time &, const ros::Duration &, const State &desired_state, const State &)
Private Attributes
std::vector < hardware_interface::JointHandle > *	joint_handles_ptr_

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Detailed Description

template<class State>
class HardwareInterfaceAdapter< hardware_interface::PositionJointInterface, State >

Adapter for a position-controlled hardware interface. Forwards desired positions as commands.

The following is an example configuration of a controller that uses this adapter.

 head_controller:
   type: "position_controllers/JointTrajectoryController"
   joints:
     - head_1_joint
     - head_2_joint
   
   constraints:
     goal_time: 0.6
     stopped_velocity_tolerance: 0.02
     head_1_joint: {trajectory: 0.05, goal: 0.02}
     head_2_joint: {trajectory: 0.05, goal: 0.02}
   stop_trajectory_duration: 0.5
   state_publish_rate:  25

Definition at line 93 of file hardware_interface_adapter.h.

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Constructor & Destructor Documentation

template<class State >

HardwareInterfaceAdapter< hardware_interface::PositionJointInterface, State >::HardwareInterfaceAdapter

(

)

[inline]

Definition at line 96 of file hardware_interface_adapter.h.

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Member Function Documentation

template<class State >

bool HardwareInterfaceAdapter< hardware_interface::PositionJointInterface, State >::init	(	std::vector< hardware_interface::JointHandle > &	joint_handles,
		ros::NodeHandle &
	)		[inline]

Definition at line 98 of file hardware_interface_adapter.h.

template<class State >

void HardwareInterfaceAdapter< hardware_interface::PositionJointInterface, State >::starting

(

const ros::Time &

)

[inline]

Definition at line 106 of file hardware_interface_adapter.h.

template<class State >

void HardwareInterfaceAdapter< hardware_interface::PositionJointInterface, State >::stopping

(

const ros::Time &

)

[inline]

Definition at line 117 of file hardware_interface_adapter.h.

template<class State >

void HardwareInterfaceAdapter< hardware_interface::PositionJointInterface, State >::updateCommand	(	const ros::Time &	,
		const ros::Duration &	,
		const State &	desired_state,
		const State &
	)		[inline]

Definition at line 119 of file hardware_interface_adapter.h.

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Member Data Documentation

template<class State >

std::vector<hardware_interface::JointHandle>* HardwareInterfaceAdapter< hardware_interface::PositionJointInterface, State >::joint_handles_ptr_ [private]

Definition at line 130 of file hardware_interface_adapter.h.

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The documentation for this class was generated from the following file:

• hardware_interface_adapter.h