HardwareInterfaceAdapter< HardwareInterface, State > Class Template Reference

Helper class to simplify integrating the JointTrajectoryController with different hardware interfaces. More...

#include <hardware_interface_adapter.h>

List of all members.

Public Member Functions
bool	init (std::vector< typename HardwareInterface::ResourceHandleType > &joint_handles, ros::NodeHandle &controller_nh)
void	starting (const ros::Time &time)
void	stopping (const ros::Time &time)
void	updateCommand (const ros::Time &time, const ros::Duration &period, const State &desired_state, const State &state_error)

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Detailed Description

template<class HardwareInterface, class State>
class HardwareInterfaceAdapter< HardwareInterface, State >

Helper class to simplify integrating the JointTrajectoryController with different hardware interfaces.

Author:

Adolfo Rodriguez Tsouroukdissian The JointTrajectoryController outputs position, velocity, command triplets, while the more common hardware interfaces it is supposed to work with accept either position or effort commands.

Use one of the avaialble template specializations of this class (or create your own) to adapt the JointTrajectoryController to a specidfic hardware interface.

Definition at line 55 of file hardware_interface_adapter.h.

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Member Function Documentation

template<class HardwareInterface, class State>

bool HardwareInterfaceAdapter< HardwareInterface, State >::init	(	std::vector< typename HardwareInterface::ResourceHandleType > &	joint_handles,
		ros::NodeHandle &	controller_nh
	)		[inline]

Definition at line 58 of file hardware_interface_adapter.h.

template<class HardwareInterface, class State>

void HardwareInterfaceAdapter< HardwareInterface, State >::starting

(

const ros::Time &

time

)

[inline]

Definition at line 63 of file hardware_interface_adapter.h.

template<class HardwareInterface, class State>

void HardwareInterfaceAdapter< HardwareInterface, State >::stopping

(

const ros::Time &

time

)

[inline]

Definition at line 64 of file hardware_interface_adapter.h.

template<class HardwareInterface, class State>

void HardwareInterfaceAdapter< HardwareInterface, State >::updateCommand	(	const ros::Time &	time,
		const ros::Duration &	period,
		const State &	desired_state,
		const State &	state_error
	)		[inline]

Definition at line 66 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