sim_hw_interface.h
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00034 
00035 /* Author: Dave Coleman
00036    Desc:   Example ros_control hardware interface that performs a perfect control loop for
00037    simulation
00038 */
00039 
00040 #ifndef GENERIC_ROS_CONTROL__SIM_HW_INTERFACE_H
00041 #define GENERIC_ROS_CONTROL__SIM_HW_INTERFACE_H
00042 
00043 #include <ros_control_boilerplate/generic_hw_interface.h>
00044 
00045 namespace ros_control_boilerplate
00046 {
00047 
00049 class SimHWInterface : public GenericHWInterface
00050 {
00051 public:
00056   SimHWInterface(ros::NodeHandle& nh, urdf::Model* urdf_model = NULL);
00057 
00059   virtual void init();
00060 
00062   virtual void read(ros::Duration &elapsed_time);
00063 
00065   virtual void write(ros::Duration &elapsed_time);
00066 
00068   virtual void enforceLimits(ros::Duration &period);
00069 
00070 protected:
00071 
00073   virtual void positionControlSimulation(ros::Duration &elapsed_time, const std::size_t joint_id);
00074 
00075   // Name of this class
00076   std::string name_;
00077 
00078   // Simulated controller
00079   double p_error_;
00080   double v_error_;
00081 
00082   // For position controller to estimate velocity
00083   std::vector<double> joint_position_prev_;
00084 
00085 };  // class
00086 
00087 }  // namespace
00088 
00089 #endif


ros_control_boilerplate
Author(s): Dave Coleman
autogenerated on Sun Apr 24 2016 04:39:29