controller_provider.h
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34 #pragma once
35 
36 /***************************************************/
44 /***************************************************/
45 
46 #include <ros/node_handle.h>
47 
49 {
50 
51 class Controller;
52 
54 {
55 public:
57  virtual ~ControllerProvider(){}
58 
59  template<class ControllerType> bool getControllerByName(const std::string& name, ControllerType*& c)
60  {
61  // get controller
63  if (controller == NULL) return false;
64 
65  // cast controller to ControllerType
66  ControllerType* controller_type = dynamic_cast< ControllerType* >(controller);
67  if (controller_type == NULL) return false;
68 
69  // copy result
70  c = controller_type;
71  return true;
72  };
73 
74 private:
75  virtual pr2_controller_interface::Controller* getControllerByName(const std::string& name) = 0;
76 
79 
80 };
81 }
ControllerProvider & operator=(const ControllerProvider &c)
bool getControllerByName(const std::string &name, ControllerType *&c)
The controller namespace.


pr2_controller_interface
Author(s): Wim Meeussen
autogenerated on Tue Mar 7 2023 03:54:56