my_robot_hw_1.h
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1 // Copyright (C) 2015, Shadow Robot Company Ltd.
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27 
28 
29 
30 #ifndef CONTROLLER_MANAGER_TESTS_MY_ROBOT_HW_1_H
31 #define CONTROLLER_MANAGER_TESTS_MY_ROBOT_HW_1_H
32 
36 
38 {
39 
41 {
42 public:
43  MyRobotHW1();
44  virtual ~MyRobotHW1(){};
45  virtual bool init(ros::NodeHandle& root_nh, ros::NodeHandle &robot_hw_nh);
46  virtual void read(const ros::Time& time, const ros::Duration& period);
47  virtual void write(const ros::Time& time, const ros::Duration& period);
48  virtual bool prepareSwitch(const std::list<hardware_interface::ControllerInfo>& start_list,
49  const std::list<hardware_interface::ControllerInfo>& stop_list);
50  virtual void doSwitch(const std::list<hardware_interface::ControllerInfo>& start_list,
51  const std::list<hardware_interface::ControllerInfo>& stop_list);
52 
53 protected:
54 
55 private:
59 
60  std::vector<double> joint_effort_command_;
61  std::vector<double> joint_velocity_command_;
62  std::vector<double> joint_position_;
63  std::vector<double> joint_velocity_;
64  std::vector<double> joint_effort_;
65  std::vector<std::string> joint_name_;
66 };
67 }
68 
69 
70 #endif
hardware_interface::VelocityJointInterface vj_interface_
Definition: my_robot_hw_1.h:58
virtual void write(const ros::Time &time, const ros::Duration &period)
hardware_interface::JointStateInterface js_interface_
Definition: my_robot_hw_1.h:56
std::vector< double > joint_velocity_
Definition: my_robot_hw_1.h:63
virtual bool prepareSwitch(const std::list< hardware_interface::ControllerInfo > &start_list, const std::list< hardware_interface::ControllerInfo > &stop_list)
std::vector< double > joint_velocity_command_
Definition: my_robot_hw_1.h:61
virtual bool init(ros::NodeHandle &root_nh, ros::NodeHandle &robot_hw_nh)
std::vector< std::string > joint_name_
Definition: my_robot_hw_1.h:65
std::vector< double > joint_effort_command_
Definition: my_robot_hw_1.h:60
virtual void read(const ros::Time &time, const ros::Duration &period)
std::vector< double > joint_effort_
Definition: my_robot_hw_1.h:64
std::vector< double > joint_position_
Definition: my_robot_hw_1.h:62
virtual void doSwitch(const std::list< hardware_interface::ControllerInfo > &start_list, const std::list< hardware_interface::ControllerInfo > &stop_list)
hardware_interface::EffortJointInterface ej_interface_
Definition: my_robot_hw_1.h:57


combined_robot_hw_tests
Author(s): Toni Oliver
autogenerated on Fri Jun 7 2019 22:00:11