40 #ifndef GENERIC_ROS_CONTROL__SIM_HW_INTERFACE_H 41 #define GENERIC_ROS_CONTROL__SIM_HW_INTERFACE_H
virtual void init()
Initialize the robot hardware interface.
std::vector< double > joint_position_prev_
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.
Hardware interface for a robot.