qb_move_hardware_interface.h

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/***
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#ifndef QB_MOVE_HARDWARE_INTERFACE_H
#define QB_MOVE_HARDWARE_INTERFACE_H

// ROS libraries
#include <pluginlib/class_list_macros.hpp>

// internal libraries
#include <qb_device_hardware_interface/qb_device_hardware_interface.h>
#include <qb_move_hardware_interface/qb_move_transmission_interface.h>
#include <qb_move_hardware_interface/qb_move_interactive_interface.h>

namespace qb_move_hardware_interface {
class qbMoveHW : public qb_device_hardware_interface::qbDeviceHW {
 public:
  qbMoveHW();

  ~qbMoveHW() override;

  std::vector<std::string> getJoints() override;

  bool init(ros::NodeHandle &root_nh, ros::NodeHandle &robot_hw_nh) override;

  void read(const ros::Time &time, const ros::Duration &period) override;

  void write(const ros::Time &time, const ros::Duration &period) override;

 private:
  qb_move_interactive_interface::qbMoveInteractive interactive_interface_;
  bool command_with_position_and_preset_;
  bool use_interactive_markers_;
  double position_ticks_to_radians_;
  double preset_percent_to_radians_;
  double max_motor_limits_;
  double min_motor_limits_;

  int getMaxStiffness();

  void updateShaftPositionLimits();
};
typedef std::shared_ptr<qbMoveHW> qbMoveHWPtr;
}  // namespace qb_move_hardware_interface

#endif // QB_MOVE_HARDWARE_INTERFACE_H