Forward command controller for a set of joints. More...

#include <forward_joint_group_command_controller.h>

Inheritance diagram for forward_command_controller::ForwardJointGroupCommandController< T >:

Public Member Functions
	ForwardJointGroupCommandController ()
bool	init (T *hw, ros::NodeHandle &n)
void	starting (const ros::Time &time)
void	update (const ros::Time &, const ros::Duration &)
	~ForwardJointGroupCommandController ()
Public Attributes
realtime_tools::RealtimeBuffer < std::vector< double > >	commands_buffer_
std::vector< std::string >	joint_names_
std::vector < hardware_interface::JointHandle >	joints_
unsigned int	n_joints_
Private Member Functions
void	commandCB (const std_msgs::Float64MultiArrayConstPtr &msg)
Private Attributes
ros::Subscriber	sub_command_

Detailed Description

template<class T>
class forward_command_controller::ForwardJointGroupCommandController< T >

Forward command controller for a set of joints.

This class forwards the command signal down to a set of joints. Command signal and joint hardware interface are of the same type, e.g. effort commands for an effort-controlled joint.

Template Parameters:

T	Type implementing the JointCommandInterface.

interface

Parameters:

type	hardware interface type.
joints	Names of the joints to control.

Subscribes to:

command (std_msgs::Float64MultiArray) : The joint commands to apply.

Definition at line 73 of file forward_joint_group_command_controller.h.

Constructor & Destructor Documentation

template<class T >

forward_command_controller::ForwardJointGroupCommandController< T >::ForwardJointGroupCommandController ( ) [inline]

Definition at line 76 of file forward_joint_group_command_controller.h.

template<class T >

forward_command_controller::ForwardJointGroupCommandController< T >::~ForwardJointGroupCommandController ( ) [inline]

Definition at line 77 of file forward_joint_group_command_controller.h.

Member Function Documentation

template<class T >

void forward_command_controller::ForwardJointGroupCommandController< T >::commandCB ( const std_msgs::Float64MultiArrayConstPtr & msg ) [inline, private]

Definition at line 128 of file forward_joint_group_command_controller.h.

template<class T >