HardwareInterfaceAdapter< HardwareInterface > Class Template Reference

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

#include <hardware_interface_adapter.h>

List of all members.

Public Member Functions
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 &time, const ros::Duration &period, double desired_position, double desired_velocity, double error_position, double error_velocity, double max_allowed_effort)

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Detailed Description

template<class HardwareInterface>
class HardwareInterfaceAdapter< HardwareInterface >

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

Author:

Sachin Chitta, Adolfo Rodriguez Tsouroukdissian The GripperActionController outputs position while it is supposed to work with either position or effort commands.

Definition at line 54 of file hardware_interface_adapter.h.

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Member Function Documentation

template<class HardwareInterface >

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

Definition at line 57 of file hardware_interface_adapter.h.

template<class HardwareInterface >

void HardwareInterfaceAdapter< HardwareInterface >::starting

(

const ros::Time &

time

)

[inline]

Definition at line 62 of file hardware_interface_adapter.h.

template<class HardwareInterface >

void HardwareInterfaceAdapter< HardwareInterface >::stopping

(

const ros::Time &

time

)

[inline]

Definition at line 63 of file hardware_interface_adapter.h.

template<class HardwareInterface >

double HardwareInterfaceAdapter< HardwareInterface >::updateCommand	(	const ros::Time &	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 65 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