ur_controllers: hardware_interface_adapter.h File Reference

#include <joint_trajectory_controller/hardware_interface_adapter.h>
#include "ur_controllers/scaled_joint_command_interface.h"

Include dependency graph for hardware_interface_adapter.h:

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Classes
class	ur_controllers::ClosedLoopHardwareInterfaceAdapter< State >
	Helper base class template for closed loop HardwareInterfaceAdapter implementations. More...

class	HardwareInterfaceAdapter< ur_controllers::ScaledPositionJointInterface, State >
	Adapter for a position-controlled hardware interface. Forwards desired positions as commands. More...

class	HardwareInterfaceAdapter< ur_controllers::ScaledVelocityJointInterface, State >
	Adapter for an velocity-controlled hardware interface. Maps position and velocity errors to velocity commands through a velocity PID loop. More...

Detailed Description