Template Class HardwareInterfaceAdapter< hardware_interface::HW_IF_POSITION >

• Defined in File hardware_interface_adapter.hpp

Class Documentation

template<>
class HardwareInterfaceAdapter<hardware_interface::HW_IF_POSITION>

Adapter for a position-controlled hardware interface. Forwards desired positions as commands.

Public Functions

inline bool init(std::optional<std::reference_wrapper<hardware_interface::LoanedCommandInterface>> joint_handle, const rclcpp_lifecycle::LifecycleNode::SharedPtr&)

inline void starting(const rclcpp::Time&)

inline void stopping(const rclcpp::Time&)

inline double updateCommand(double desired_position, double, double, double, double max_allowed_effort)