effort_test_controller.h

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// Copyright (C) 2012, hiDOF INC.
//
// 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
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#pragma once
 
 
#include <controller_interface/controller.h>
#include <hardware_interface/joint_command_interface.h>
#include <pluginlib/class_list_macros.hpp>
 
 
namespace controller_manager_tests
{
 
 
class EffortTestController: public controller_interface::Controller<hardware_interface::EffortJointInterface>
{
public:
  using controller_interface::Controller<hardware_interface::EffortJointInterface>::init;
  bool init(hardware_interface::EffortJointInterface* 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> joint_effort_commands_;
 
};
 
}