HardwareInterfaceAdapter< HardwareInterface > Class Template Reference

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

#include <hardware_interface_adapter.h>

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)

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.

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