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joint_group_effort_controller.cpp
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/*********************************************************************
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2008, Willow Garage, Inc.
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* Copyright (c) 2012, hiDOF, Inc.
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* Copyright (c) 2013, PAL Robotics, S.L.
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* Copyright (c) 2014, Fraunhofer IPA
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the Willow Garage nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* POSSIBILITY OF SUCH DAMAGE.
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*********************************************************************/
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#include <
effort_controllers/joint_group_effort_controller.h
>
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#include <
pluginlib/class_list_macros.hpp
>
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template
<
class
T>
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void
forward_command_controller::ForwardJointGroupCommandController<T>::starting
(
const
ros::Time
& time)
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{
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// Start controller with 0.0 efforts
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commands_buffer_.readFromRT()->assign(n_joints_, 0.0);
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}
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PLUGINLIB_EXPORT_CLASS
(
effort_controllers::JointGroupEffortController
,
controller_interface::ControllerBase
)
ros::Time
forward_command_controller::ForwardJointGroupCommandController::starting
void starting(const ros::Time &time)
Definition:
joint_group_effort_controller.cpp:42
class_list_macros.hpp
controller_interface::ControllerBase
forward_command_controller::ForwardJointGroupCommandController
joint_group_effort_controller.h
PLUGINLIB_EXPORT_CLASS
#define PLUGINLIB_EXPORT_CLASS(class_type, base_class_type)
effort_controllers
Author(s): Vijay Pradeep
autogenerated on Thu Apr 11 2019 03:08:20