18 #ifndef COB_TWIST_CONTROLLER_CONTROLLER_INTERFACES_CONTROLLER_INTERFACE_BASE_H 19 #define COB_TWIST_CONTROLLER_CONTROLLER_INTERFACES_CONTROLLER_INTERFACE_BASE_H 59 period_ = now - last_update_time_;
60 last_update_time_ = now;
61 return integrator_->updateIntegration(q_dot_ik, current_q, pos_, vel_);
68 std::vector<double> pos_,
vel_;
75 #endif // COB_TWIST_CONTROLLER_CONTROLLER_INTERFACES_CONTROLLER_INTERFACE_BASE_H virtual void processResult(const KDL::JntArray &q_dot_ik, const KDL::JntArray ¤t_q)=0
bool updateIntegration(const KDL::JntArray &q_dot_ik, const KDL::JntArray ¤t_q)
~ControllerInterfacePositionBase()
ros::Time last_update_time_
Base class for controller interfaces using position integration.
std::vector< double > vel_
virtual ~ControllerInterfaceBase()
Base class for controller interfaces.
ControllerInterfacePositionBase()
TwistControllerParams params_
virtual void initialize(ros::NodeHandle &nh, const TwistControllerParams ¶ms)=0
boost::shared_ptr< SimpsonIntegrator > integrator_
ControllerInterfaceBase()