joint_trajectory_controller.cpp
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00001 
00002 // Copyright (C) 2013, PAL Robotics S.L.
00003 // Copyright (c) 2008, Willow Garage, Inc.
00004 //
00005 // Redistribution and use in source and binary forms, with or without
00006 // modification, are permitted provided that the following conditions are met:
00007 // * Redistributions of source code must retain the above copyright notice,
00008 // this list of conditions and the following disclaimer.
00009 // * Redistributions in binary form must reproduce the above copyright
00010 // notice, this list of conditions and the following disclaimer in the
00011 // documentation and/or other materials provided with the distribution.
00012 // * Neither the name of PAL Robotics S.L. nor the names of its
00013 // contributors may be used to endorse or promote products derived from
00014 // this software without specific prior written permission.
00015 //
00016 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00017 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00018 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00019 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00020 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00021 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00022 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00023 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00024 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00025 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00026 // POSSIBILITY OF SUCH DAMAGE.
00028 
00029 // Pluginlib
00030 #include <pluginlib/class_list_macros.h>
00031 
00032 // Project
00033 #include <trajectory_interface/quintic_spline_segment.h>
00034 #include <joint_trajectory_controller/joint_trajectory_controller.h>
00035 
00036 namespace position_controllers
00037 {
00042   typedef joint_trajectory_controller::JointTrajectoryController<trajectory_interface::QuinticSplineSegment<double>,
00043                                                                  hardware_interface::PositionJointInterface>
00044           JointTrajectoryController;
00045 }
00046 
00047 namespace velocity_controllers
00048 {
00053   typedef joint_trajectory_controller::JointTrajectoryController<trajectory_interface::QuinticSplineSegment<double>,
00054                                                                  hardware_interface::VelocityJointInterface>
00055           JointTrajectoryController;
00056 }
00057 
00058 namespace effort_controllers
00059 {
00064   typedef joint_trajectory_controller::JointTrajectoryController<trajectory_interface::QuinticSplineSegment<double>,
00065                                                                  hardware_interface::EffortJointInterface>
00066           JointTrajectoryController;
00067 }
00068 
00069 PLUGINLIB_EXPORT_CLASS(position_controllers::JointTrajectoryController, controller_interface::ControllerBase)
00070 PLUGINLIB_EXPORT_CLASS(velocity_controllers::JointTrajectoryController, controller_interface::ControllerBase)
00071 PLUGINLIB_EXPORT_CLASS(effort_controllers::JointTrajectoryController,   controller_interface::ControllerBase)


joint_trajectory_controller
Author(s): Adolfo Rodriguez Tsouroukdissian
autogenerated on Sat Aug 13 2016 04:20:51