pos_eff_opt_controller.h
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27 
28 #ifndef CONTROLLER_MANAGER_TESTS_POS_EFF_OPT_CONTROLLER_H
29 #define CONTROLLER_MANAGER_TESTS_POS_EFF_OPT_CONTROLLER_H
30 
34 
36 {
37 
38 class PosEffOptController : public
39  controller_interface::MultiInterfaceController<hardware_interface::PositionJointInterface,
40  hardware_interface::EffortJointInterface>
41 {
42 public:
43  // Notice flag passed to constructor, allowing hardware interfaces to be optional
46  hardware_interface::EffortJointInterface> (true) {}
47 
49  void starting(const ros::Time& time);
50  void update(const ros::Time& time, const ros::Duration& period);
51  void stopping(const ros::Time& time);
52 
53 private:
54  std::vector<hardware_interface::JointHandle> pos_cmd_;
55  std::vector<hardware_interface::JointHandle> eff_cmd_;
56 };
57 
58 }
59 
60 #endif
std::vector< hardware_interface::JointHandle > eff_cmd_
bool init(hardware_interface::RobotHW *robot_hw, ros::NodeHandle &n)
std::vector< hardware_interface::JointHandle > pos_cmd_
void update(const ros::Time &time, const ros::Duration &period)


controller_manager_tests
Author(s): Vijay Pradeep, Adolfo Rodriguez Tsouroukdissian
autogenerated on Fri Jun 7 2019 22:00:10