#include <cassert>#include <string>#include <vector>#include <boost/shared_ptr.hpp>#include <ros/node_handle.h>#include <ros/time.h>#include <control_toolbox/pid.h>#include <hardware_interface/joint_command_interface.h>
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Classes | |
| class | HardwareInterfaceAdapter< HardwareInterface, State > |
| Helper class to simplify integrating the JointTrajectoryController with different hardware interfaces. More... | |
| class | HardwareInterfaceAdapter< hardware_interface::EffortJointInterface, State > |
| Adapter for an effort-controlled hardware interface. Maps position and velocity errors to effort commands through a position PID loop. More... | |
| class | HardwareInterfaceAdapter< hardware_interface::PositionJointInterface, State > |
| Adapter for a position-controlled hardware interface. Forwards desired positions as commands. More... | |
| class | HardwareInterfaceAdapter< hardware_interface::VelocityJointInterface, State > |
| Adapter for an velocity-controlled hardware interface. Maps position and velocity errors to velocity commands through a velocity PID loop. More... | |