pos_eff_controller.cpp
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27 
29 
30 using namespace controller_manager_tests;
31 
33 {
34  std::vector<std::string> pos_joints;
35  if (!n.getParam("position_joints", pos_joints)) {return false;}
36 
37  std::vector<std::string> eff_joints;
38  if (!n.getParam("effort_joints", eff_joints)) {return false;}
39 
40  typedef std::vector<std::string>::const_iterator NamesIterator;
43 
44  // should not fail, as initRequest should have checked interface existence
45  PosIface* pos_iface = robot_hw->get<PosIface>();
46  EffIface* eff_iface = robot_hw->get<EffIface>();
47 
48  // populate command handles (claimed resources)
49  for (NamesIterator it = pos_joints.begin(); it != pos_joints.end(); it++)
50  {
51  pos_cmd_.push_back(pos_iface->getHandle(*it));
52  }
53 
54  for (NamesIterator it = eff_joints.begin(); it != eff_joints.end(); it++)
55  {
56  eff_cmd_.push_back(eff_iface->getHandle(*it));
57  }
58 
59  return true;
60 }
61 
63 {
64  ROS_INFO("Starting PosEffController");
65 }
66 
67 void PosEffController::update(const ros::Time& /*time*/, const ros::Duration& /*period*/)
68 {}
69 
71 {
72  ROS_INFO("Stopping PosEffController");
73 }
74 
std::vector< hardware_interface::JointHandle > pos_cmd_
std::vector< hardware_interface::JointHandle > eff_cmd_
void update(const ros::Time &time, const ros::Duration &period)
#define ROS_INFO(...)
bool init(hardware_interface::RobotHW *robot_hw, ros::NodeHandle &n)
bool getParam(const std::string &key, std::string &s) const
#define PLUGINLIB_EXPORT_CLASS(class_type, base_class_type)


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