21 franka_hw::FrankaStateInterface> {
ros::Duration elapsed_time_
std::array< double, 2 > initial_elbow_
void starting(const ros::Time &) override
std::unique_ptr< franka_hw::FrankaCartesianPoseHandle > cartesian_pose_handle_
franka_hw::FrankaPoseCartesianInterface * cartesian_pose_interface_
std::array< double, 16 > initial_pose_
bool init(hardware_interface::RobotHW *robot_hardware, ros::NodeHandle &node_handle) override
void update(const ros::Time &, const ros::Duration &period) override