sim_hw_interface.h

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/* Author: Dave Coleman
   Desc:   Example ros_control hardware interface that performs a perfect control loop for
   simulation
*/

#ifndef GENERIC_ROS_CONTROL__SIM_HW_INTERFACE_H
#define GENERIC_ROS_CONTROL__SIM_HW_INTERFACE_H

#include <ros_control_boilerplate/generic_hw_interface.h>

namespace ros_control_boilerplate
{

class SimHWInterface : public GenericHWInterface
{
public:
  SimHWInterface(ros::NodeHandle& nh, urdf::Model* urdf_model = NULL);

  virtual void init();

  virtual void read(ros::Duration &elapsed_time);

  virtual void write(ros::Duration &elapsed_time);

  virtual void enforceLimits(ros::Duration &period);

protected:

  virtual void positionControlSimulation(ros::Duration &elapsed_time, const std::size_t joint_id);

  // Name of this class
  std::string name_;

  // Simulated controller
  double p_error_;
  double v_error_;

  // For position controller to estimate velocity
  std::vector<double> joint_position_prev_;

  // Send commands in different modes
  int sim_control_mode_ = 0;

};  // class

}  // namespace

#endif