joint_group_effort_controller.cpp
Go to the documentation of this file.
1 /*********************************************************************
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2008, Willow Garage, Inc.
5  * Copyright (c) 2012, hiDOF, Inc.
6  * Copyright (c) 2013, PAL Robotics, S.L.
7  * Copyright (c) 2014, Fraunhofer IPA
8  * All rights reserved.
9  *
10  * Redistribution and use in source and binary forms, with or without
11  * modification, are permitted provided that the following conditions
12  * are met:
13  *
14  * * Redistributions of source code must retain the above copyright
15  * notice, this list of conditions and the following disclaimer.
16  * * Redistributions in binary form must reproduce the above
17  * copyright notice, this list of conditions and the following
18  * disclaimer in the documentation and/or other materials provided
19  * with the distribution.
20  * * Neither the name of the Willow Garage nor the names of its
21  * contributors may be used to endorse or promote products derived
22  * from this software without specific prior written permission.
23  *
24  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
25  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
26  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
27  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
28  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
29  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
30  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
31  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
32  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
33  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
34  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
35  * POSSIBILITY OF SUCH DAMAGE.
36  *********************************************************************/
37 
40 
41 template <class T>
43 {
44  // Start controller with 0.0 efforts
45  commands_buffer_.readFromRT()->assign(n_joints_, 0.0);
46 }
47 
48 
forward_command_controller::ForwardJointGroupCommandController
controller_interface::ControllerBase
forward_command_controller::ForwardJointGroupCommandController::starting
void starting(const ros::Time &time)
Definition: joint_group_effort_controller.cpp:42
PLUGINLIB_EXPORT_CLASS
#define PLUGINLIB_EXPORT_CLASS(class_type, base_class_type)
joint_group_effort_controller.h
ros::Time
class_list_macros.hpp


effort_controllers
Author(s): Vijay Pradeep
autogenerated on Fri May 24 2024 02:41:22