joint_trajectory_controller.cpp

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// Copyright (C) 2013, PAL Robotics S.L.
// Copyright (c) 2008, Willow Garage, Inc.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
// * Redistributions of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
// * Neither the name of PAL Robotics S.L. nor the names of its
// contributors may be used to endorse or promote products derived from
// this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// Pluginlib
#include <pluginlib/class_list_macros.h>

// Project
#include <trajectory_interface/quintic_spline_segment.h>
#include <joint_trajectory_controller/joint_trajectory_controller.h>

namespace position_controllers
{
  typedef joint_trajectory_controller::JointTrajectoryController<trajectory_interface::QuinticSplineSegment<double>,
                                                                 hardware_interface::PositionJointInterface>
          JointTrajectoryController;
}

namespace velocity_controllers
{
  typedef joint_trajectory_controller::JointTrajectoryController<trajectory_interface::QuinticSplineSegment<double>,
                                                                 hardware_interface::VelocityJointInterface>
          JointTrajectoryController;
}

namespace effort_controllers
{
  typedef joint_trajectory_controller::JointTrajectoryController<trajectory_interface::QuinticSplineSegment<double>,
                                                                 hardware_interface::EffortJointInterface>
          JointTrajectoryController;
}

PLUGINLIB_EXPORT_CLASS(position_controllers::JointTrajectoryController, controller_interface::ControllerBase)
PLUGINLIB_EXPORT_CLASS(velocity_controllers::JointTrajectoryController, controller_interface::ControllerBase)
PLUGINLIB_EXPORT_CLASS(effort_controllers::JointTrajectoryController,   controller_interface::ControllerBase)