Adapter for a pos-vel hardware interface. Forwards desired positions with velcities as commands. More...
#include <hardware_interface_adapter.h>
Public Member Functions | |
HardwareInterfaceAdapter () | |
bool | init (std::vector< hardware_interface::PosVelJointHandle > &joint_handles, ros::NodeHandle &) |
void | starting (const ros::Time &) |
void | stopping (const ros::Time &) |
void | updateCommand (const ros::Time &, const ros::Duration &, const State &desired_state, const State &) |
Private Attributes | |
std::vector< hardware_interface::PosVelJointHandle > * | joint_handles_ptr_ |
Adapter for a pos-vel hardware interface. Forwards desired positions with velcities as commands.
Definition at line 291 of file hardware_interface_adapter.h.
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Definition at line 294 of file hardware_interface_adapter.h.
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Definition at line 296 of file hardware_interface_adapter.h.
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Definition at line 304 of file hardware_interface_adapter.h.
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Definition at line 305 of file hardware_interface_adapter.h.
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Definition at line 307 of file hardware_interface_adapter.h.
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Definition at line 321 of file hardware_interface_adapter.h.