pos_eff_opt_controller.h

Go to the documentation of this file.

// Copyright (C) 2015, PAL Robotics S.L.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//   * Redistributions of source code must retain the above copyright notice,
//     this list of conditions and the following disclaimer.
//   * Redistributions in binary form must reproduce the above copyright
//     notice, this list of conditions and the following disclaimer in the
//     documentation and/or other materials provided with the distribution.
//   * Neither the names of PAL Robotics S.L. nor the names of its
//     contributors may be used to endorse or promote products derived from
//     this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.

#pragma once


#include <controller_interface/multi_interface_controller.h>
#include <hardware_interface/joint_command_interface.h>
#include <pluginlib/class_list_macros.hpp>

namespace controller_manager_tests
{

class PosEffOptController : public
      controller_interface::MultiInterfaceController<hardware_interface::PositionJointInterface,
                                                     hardware_interface::EffortJointInterface>
{
public:
  // Notice flag passed to constructor, allowing hardware interfaces to be optional
  PosEffOptController()
   : controller_interface::MultiInterfaceController<hardware_interface::PositionJointInterface,
                                                    hardware_interface::EffortJointInterface> (true) {}

  bool init(hardware_interface::RobotHW* robot_hw, ros::NodeHandle &n) override;
  void starting(const ros::Time& time) override;
  void update(const ros::Time& time, const ros::Duration& period) override;
  void stopping(const ros::Time& time) override;

private:
  std::vector<hardware_interface::JointHandle> pos_cmd_;
  std::vector<hardware_interface::JointHandle> eff_cmd_;
};

}