HardwareInterfaceAdapter< HardwareInterface, State > Class Template Reference

Helper class to simplify integrating the JointTrajectoryController with different hardware interfaces. More...

#include <hardware_interface_adapter.h>

Public Member Functions
bool	init (std::vector< typename HardwareInterface::ResourceHandleType > &, ros::NodeHandle &)
void	starting (const ros::Time &)
void	stopping (const ros::Time &)
void	updateCommand (const ros::Time &, const ros::Duration &, const State &, const State &)

Detailed Description

template<class HardwareInterface, class State>
class HardwareInterfaceAdapter< HardwareInterface, State >

Helper class to simplify integrating the JointTrajectoryController with different hardware interfaces.

Author

Adolfo Rodriguez Tsouroukdissian The JointTrajectoryController outputs position, velocity and acceleration command triplets, while the more common hardware interfaces accept position, velocity or effort commands.

Use one of the available template specializations of this class (or create your own) to adapt the JointTrajectoryController to a specific hardware interface.

Definition at line 56 of file hardware_interface_adapter.h.

Member Function Documentation

init()

template<class HardwareInterface , class State >

bool HardwareInterfaceAdapter< HardwareInterface, State >::init ( std::vector< typename HardwareInterface::ResourceHandleType > &  , ros::NodeHandle &    )

inline

Definition at line 59 of file hardware_interface_adapter.h.

starting()

template<class HardwareInterface , class State >

void HardwareInterfaceAdapter< HardwareInterface, State >::starting ( const ros::Time &  )

inline

Definition at line 64 of file hardware_interface_adapter.h.

stopping()

template<class HardwareInterface , class State >

void HardwareInterfaceAdapter< HardwareInterface, State >::stopping ( const ros::Time &  )

inline

Definition at line 65 of file hardware_interface_adapter.h.

updateCommand()

template<class HardwareInterface , class State >

void HardwareInterfaceAdapter< HardwareInterface, State >::updateCommand ( const ros::Time &  , const ros::Duration &  , const State &  , const State &    )

inline

Definition at line 67 of file hardware_interface_adapter.h.

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The documentation for this class was generated from the following file:

• hardware_interface_adapter.h