my_robot_hw_4.h

Go to the documentation of this file.

// Copyright (C) 2015, Shadow Robot Company Ltd.
//
// 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 name of hiDOF, Inc. 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 <hardware_interface/force_torque_sensor_interface.h>
#include <hardware_interface/robot_hw.h>
#include <pluginlib/class_list_macros.hpp>
 
namespace combined_robot_hw_tests
{
 
class MyRobotHW4 : public hardware_interface::RobotHW
{
public:
  bool init(ros::NodeHandle& root_nh, ros::NodeHandle &robot_hw_nh) override;
  void read(const ros::Time& time, const ros::Duration& period) override;
  void write(const ros::Time& time, const ros::Duration& period) override;
  bool prepareSwitch(const std::list<hardware_interface::ControllerInfo>& start_list,
                     const std::list<hardware_interface::ControllerInfo>& stop_list) override;
  void doSwitch(const std::list<hardware_interface::ControllerInfo>& start_list,
                const std::list<hardware_interface::ControllerInfo>& stop_list) override;
 
protected:
 
private:
  hardware_interface::ForceTorqueSensorInterface ft_sensor_interface_;
  hardware_interface::HardwareInterface a_plain_hw_interface_;
 
  double force_[3];
  double torque_[3];
  std::string sensor_name_;
  std::string frame_id_;
};
}