Program Listing for File actuator.hpp
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// 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
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_