my_robot_hw.cpp
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1 // Copyright (C) 2012, hiDOF INC.
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27 
28 /*
29  * Author: Wim Meeussen
30  */
31 
32 
34 
36 {
37 
39 {
40  using namespace hardware_interface;
41 
42  // Initialize raw data
43  joint_position_.resize(3);
44  joint_velocity_.resize(3);
45  joint_effort_.resize(3);
46  joint_effort_command_.resize(3);
47  joint_velocity_command_.resize(3);
48  joint_name_.resize(3);
49 
50  joint_name_[0] = "hiDOF_joint1";
51  joint_position_[0] = 1.0;
52  joint_velocity_[0] = 0.0;
53  joint_effort_[0] = 0.1;
54  joint_effort_command_[0] = 0.0;
55  joint_velocity_command_[0] = 0.0;
56 
57  joint_name_[1] = "hiDOF_joint2";
58  joint_position_[1] = 1.0;
59  joint_velocity_[1] = 0.0;
60  joint_effort_[1] = 0.1;
61  joint_effort_command_[1] = 0.0;
62  joint_velocity_command_[1] = 0.0;
63 
64  joint_name_[2] = "hiDOF_joint3";
65  joint_position_[2] = 1.0;
66  joint_velocity_[2] = 0.0;
67  joint_effort_[2] = 0.1;
68  joint_effort_command_[2] = 0.0;
69  joint_velocity_command_[2] = 0.0;
70 
71  // Populate hardware interfaces
75 
79 
83 
87 }
88 
89 
91 {
92 
93 }
94 
96 {
97 }
98 
99 }
std::vector< double > joint_velocity_command_
Definition: my_robot_hw.h:58
std::vector< double > joint_position_
Definition: my_robot_hw.h:59
std::vector< std::string > joint_name_
Definition: my_robot_hw.h:62
std::vector< double > joint_effort_
Definition: my_robot_hw.h:61
hardware_interface::EffortJointInterface ej_interface_
Definition: my_robot_hw.h:54
hardware_interface::JointStateInterface js_interface_
Definition: my_robot_hw.h:53
hardware_interface::VelocityJointInterface vj_interface_
Definition: my_robot_hw.h:55
std::vector< double > joint_effort_command_
Definition: my_robot_hw.h:57
void registerHandle(const JointStateHandle &handle)
JointStateHandle getHandle(const std::string &name)
std::vector< double > joint_velocity_
Definition: my_robot_hw.h:60


controller_manager_tests
Author(s): Vijay Pradeep, Adolfo Rodriguez Tsouroukdissian
autogenerated on Mon Apr 20 2020 03:52:10