sim_hw_interface.h
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34 
35 /* Author: Dave Coleman
36  Desc: Example ros_control hardware interface that performs a perfect control loop for
37  simulation
38 */
39 
40 #ifndef GENERIC_ROS_CONTROL__SIM_HW_INTERFACE_H
41 #define GENERIC_ROS_CONTROL__SIM_HW_INTERFACE_H
42 
44 
46 {
47 
50 {
51 public:
56  SimHWInterface(ros::NodeHandle& nh, urdf::Model* urdf_model = NULL);
57 
59  virtual void init();
60 
62  virtual void read(ros::Duration &elapsed_time);
63 
65  virtual void write(ros::Duration &elapsed_time);
66 
68  virtual void enforceLimits(ros::Duration &period);
69 
70 protected:
71 
73  virtual void positionControlSimulation(ros::Duration &elapsed_time, const std::size_t joint_id);
74 
75  // Name of this class
76  std::string name_;
77 
78  // Simulated controller
79  double p_error_;
80  double v_error_;
81 
82  // For position controller to estimate velocity
83  std::vector<double> joint_position_prev_;
84 
85  // Send commands in different modes
87 
88 }; // class
89 
90 } // namespace
91 
92 #endif
virtual void init()
Initialize the robot hardware interface.
virtual void read(ros::Duration &elapsed_time)
Read the state from the robot hardware.
SimHWInterface(ros::NodeHandle &nh, urdf::Model *urdf_model=NULL)
Constructor.
Hardware interface for a robot.
virtual void enforceLimits(ros::Duration &period)
virtual void write(ros::Duration &elapsed_time)
Write the command to the robot hardware.
virtual void positionControlSimulation(ros::Duration &elapsed_time, const std::size_t joint_id)
Basic model of system for position control.


ros_control_boilerplate
Author(s): Dave Coleman
autogenerated on Thu Feb 25 2021 03:58:54