joint_group_position_controller.cpp
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00004  *  Copyright (c) 2008, Willow Garage, Inc.
00005  *  Copyright (c) 2012, hiDOF, Inc.
00006  *  Copyright (c) 2013, PAL Robotics, S.L.
00007  *  Copyright (c) 2014, Fraunhofer IPA
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00037 
00038 #include <position_controllers/joint_group_position_controller.h>
00039 #include <pluginlib/class_list_macros.h>
00040 
00041 template <class T>
00042 void forward_command_controller::ForwardJointGroupCommandController<T>::starting(const ros::Time& time)
00043 {
00044   // Start controller with current joint positions
00045   std::vector<double> & commands = *commands_buffer_.readFromRT();
00046   for(unsigned int i=0; i<joints_.size(); i++)
00047   {
00048     commands[i]=joints_[i].getPosition();
00049   }
00050 }
00051 
00052 
00053 PLUGINLIB_EXPORT_CLASS(position_controllers::JointGroupPositionController,controller_interface::ControllerBase)


position_controllers
Author(s): Vijay Pradeep
autogenerated on Thu Jun 6 2019 18:59:03