vel_eff_controller.h
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27 
28 #ifndef CONTROLLER_MANAGER_TESTS_VEL_EFF_CONTROLLER_H
29 #define CONTROLLER_MANAGER_TESTS_VEL_EFF_CONTROLLER_H
30 
34 
36 {
37 
38 class VelEffController : public
39  controller_interface::MultiInterfaceController<hardware_interface::VelocityJointInterface,
40  hardware_interface::EffortJointInterface>
41 {
42 public:
44 
46  void starting(const ros::Time& time);
47  void update(const ros::Time& time, const ros::Duration& period);
48  void stopping(const ros::Time& time);
49 
50 private:
51  std::vector<hardware_interface::JointHandle> vel_cmd_;
52  std::vector<hardware_interface::JointHandle> eff_cmd_;
53 };
54 
55 }
56 
57 #endif
std::vector< hardware_interface::JointHandle > eff_cmd_
std::vector< hardware_interface::JointHandle > vel_cmd_
bool init(hardware_interface::RobotHW *robot_hw, ros::NodeHandle &n)
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