.. _program_listing_file_include_hardware_interface_actuator.hpp:

Program Listing for File actuator.hpp
=====================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_hardware_interface_actuator.hpp>` (``include/hardware_interface/actuator.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2020 - 2021 ros2_control Development Team
   //
   // 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 HARDWARE_INTERFACE__ACTUATOR_HPP_
   #define HARDWARE_INTERFACE__ACTUATOR_HPP_
   
   #include <memory>
   #include <string>
   #include <vector>
   
   #include "hardware_interface/handle.hpp"
   #include "hardware_interface/hardware_info.hpp"
   #include "hardware_interface/types/hardware_interface_return_values.hpp"
   #include "hardware_interface/visibility_control.h"
   #include "rclcpp/duration.hpp"
   #include "rclcpp/time.hpp"
   #include "rclcpp_lifecycle/state.hpp"
   
   namespace hardware_interface
   {
   class ActuatorInterface;
   
   class Actuator final
   {
   public:
     Actuator() = default;
   
     HARDWARE_INTERFACE_PUBLIC
     explicit Actuator(std::unique_ptr<ActuatorInterface> impl);
   
     Actuator(Actuator && other) = default;
   
     ~Actuator() = default;
   
     HARDWARE_INTERFACE_PUBLIC
     const rclcpp_lifecycle::State & initialize(const HardwareInfo & actuator_info);
   
     HARDWARE_INTERFACE_PUBLIC
     const rclcpp_lifecycle::State & configure();
   
     HARDWARE_INTERFACE_PUBLIC
     const rclcpp_lifecycle::State & cleanup();
   
     HARDWARE_INTERFACE_PUBLIC
     const rclcpp_lifecycle::State & shutdown();
   
     HARDWARE_INTERFACE_PUBLIC
     const rclcpp_lifecycle::State & activate();
   
     HARDWARE_INTERFACE_PUBLIC
     const rclcpp_lifecycle::State & deactivate();
   
     HARDWARE_INTERFACE_PUBLIC
     const rclcpp_lifecycle::State & error();
   
     HARDWARE_INTERFACE_PUBLIC
     std::vector<StateInterface> export_state_interfaces();
   
     HARDWARE_INTERFACE_PUBLIC
     std::vector<CommandInterface> export_command_interfaces();
   
     HARDWARE_INTERFACE_PUBLIC
     return_type prepare_command_mode_switch(
       const std::vector<std::string> & start_interfaces,
       const std::vector<std::string> & stop_interfaces);
   
     HARDWARE_INTERFACE_PUBLIC
     return_type perform_command_mode_switch(
       const std::vector<std::string> & start_interfaces,
       const std::vector<std::string> & stop_interfaces);
   
     HARDWARE_INTERFACE_PUBLIC
     std::string get_name() const;
   
     HARDWARE_INTERFACE_PUBLIC
     std::string get_group_name() const;
   
     HARDWARE_INTERFACE_PUBLIC
     const rclcpp_lifecycle::State & get_state() const;
   
     HARDWARE_INTERFACE_PUBLIC
     return_type read(const rclcpp::Time & time, const rclcpp::Duration & period);
   
     HARDWARE_INTERFACE_PUBLIC
     return_type write(const rclcpp::Time & time, const rclcpp::Duration & period);
   
   private:
     std::unique_ptr<ActuatorInterface> impl_;
   };
   
   }  // namespace hardware_interface
   #endif  // HARDWARE_INTERFACE__ACTUATOR_HPP_