.. _program_listing_file_include_controller_interface_chainable_controller_interface.hpp:

Program Listing for File chainable_controller_interface.hpp
===========================================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_controller_interface_chainable_controller_interface.hpp>` (``include/controller_interface/chainable_controller_interface.hpp``)

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

.. code-block:: cpp

   // 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_