Program Listing for File chainable_controller_interface.hpp
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// Copyright (c) 2022, Stogl Robotics Consulting UG (haftungsbeschränkt)
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef CONTROLLER_INTERFACE__CHAINABLE_CONTROLLER_INTERFACE_HPP_
#define CONTROLLER_INTERFACE__CHAINABLE_CONTROLLER_INTERFACE_HPP_
#include <vector>
#include "controller_interface/controller_interface_base.hpp"
#include "controller_interface/visibility_control.h"
#include "hardware_interface/handle.hpp"
namespace controller_interface
{
class ChainableControllerInterface : public ControllerInterfaceBase
{
public:
CONTROLLER_INTERFACE_PUBLIC
ChainableControllerInterface();
CONTROLLER_INTERFACE_PUBLIC
virtual ~ChainableControllerInterface() = default;
CONTROLLER_INTERFACE_PUBLIC
return_type update(const rclcpp::Time & time, const rclcpp::Duration & period) final;
CONTROLLER_INTERFACE_PUBLIC
bool is_chainable() const final;
CONTROLLER_INTERFACE_PUBLIC
std::vector<hardware_interface::CommandInterface> export_reference_interfaces() final;
CONTROLLER_INTERFACE_PUBLIC
bool set_chained_mode(bool chained_mode) final;
CONTROLLER_INTERFACE_PUBLIC
bool is_in_chained_mode() const final;
protected:
virtual std::vector<hardware_interface::CommandInterface> on_export_reference_interfaces() = 0;
virtual bool on_set_chained_mode(bool chained_mode);
virtual return_type update_reference_from_subscribers(
const rclcpp::Time & time, const rclcpp::Duration & period) = 0;
virtual return_type update_and_write_commands(
const rclcpp::Time & time, const rclcpp::Duration & period) = 0;
std::vector<double> reference_interfaces_;
private:
bool in_chained_mode_ = false;
};
} // namespace controller_interface
#endif // CONTROLLER_INTERFACE__CHAINABLE_CONTROLLER_INTERFACE_HPP_