HardwareInterfaceAdapter< hardware_interface::PositionJointInterface > Class Template Reference

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

#include <hardware_interface_adapter.h>

List of all members.

Public Member Functions
	HardwareInterfaceAdapter ()
bool	init (hardware_interface::JointHandle &joint_handle, ros::NodeHandle &controller_nh)
void	starting (const ros::Time &time)
void	stopping (const ros::Time &time)
double	updateCommand (const ros::Time &, const ros::Duration &period, double desired_position, double desired_velocity, double error_position, double error_velocity, double max_allowed_effort)
Private Attributes
hardware_interface::JointHandle *	joint_handle_ptr_

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Detailed Description

template<>
class HardwareInterfaceAdapter< hardware_interface::PositionJointInterface >

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

Definition at line 79 of file hardware_interface_adapter.h.

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Constructor & Destructor Documentation

HardwareInterfaceAdapter< hardware_interface::PositionJointInterface >::HardwareInterfaceAdapter

(

)

[inline]

Definition at line 82 of file hardware_interface_adapter.h.

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Member Function Documentation

bool HardwareInterfaceAdapter< hardware_interface::PositionJointInterface >::init	(	hardware_interface::JointHandle &	joint_handle,
		ros::NodeHandle &	controller_nh
	)		[inline]

Definition at line 84 of file hardware_interface_adapter.h.

void HardwareInterfaceAdapter< hardware_interface::PositionJointInterface >::starting

(

const ros::Time &

time

)

[inline]

Definition at line 92 of file hardware_interface_adapter.h.

void HardwareInterfaceAdapter< hardware_interface::PositionJointInterface >::stopping

(

const ros::Time &

time

)

[inline]

Definition at line 93 of file hardware_interface_adapter.h.

double HardwareInterfaceAdapter< hardware_interface::PositionJointInterface >::updateCommand	(	const ros::Time &	,
		const ros::Duration &	period,
		double	desired_position,
		double	desired_velocity,
		double	error_position,
		double	error_velocity,
		double	max_allowed_effort
	)		[inline]

Definition at line 95 of file hardware_interface_adapter.h.

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Member Data Documentation

hardware_interface::JointHandle* HardwareInterfaceAdapter< hardware_interface::PositionJointInterface >::joint_handle_ptr_ [private]

Definition at line 109 of file hardware_interface_adapter.h.

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The documentation for this class was generated from the following file:

• hardware_interface_adapter.h