my_robot_hw_4.cpp
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1 // Copyright (C) 2015, Shadow Robot Company Ltd.
3 //
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27 
28 
30 
32 {
33 
35 {
36 }
37 
38 bool MyRobotHW4::init(ros::NodeHandle& root_nh, ros::NodeHandle &robot_hw_nh)
39 {
40  using namespace hardware_interface;
41 
42  force_[0] = 0.0;
43  force_[1] = 0.1;
44  force_[2] = 0.2;
45  torque_[0] = 0.0;
46  torque_[1] = 0.1;
47  torque_[2] = 0.2;
48  sensor_name_ = "ft_sensor_1";
49  frame_id_ = "link_1";
50 
52 
55 
56  return true;
57 }
58 
59 
60 void MyRobotHW4::read(const ros::Time& time, const ros::Duration& period)
61 {
62  force_[2] = 1.2;
63 }
64 
65 void MyRobotHW4::write(const ros::Time& time, const ros::Duration& period)
66 {
67 }
68 
69 bool MyRobotHW4::prepareSwitch(const std::list<hardware_interface::ControllerInfo>& start_list,
70  const std::list<hardware_interface::ControllerInfo>& stop_list)
71 {
72  // To easily test a failure case, any controller that claims resources on MyRobotHW4 will fail
73  if (!start_list.empty() || !stop_list.empty())
74  {
75  for (std::list<hardware_interface::ControllerInfo>::const_iterator it = start_list.begin(); it != start_list.end(); ++it)
76  {
77  if (it->claimed_resources.empty())
78  {
79  continue;
80  }
81  else
82  {
83  return false;
84  }
85  }
86  }
87  return true;
88 }
89 
90 void MyRobotHW4::doSwitch(const std::list<hardware_interface::ControllerInfo>& start_list,
91  const std::list<hardware_interface::ControllerInfo>& stop_list)
92 {
93  // To easily test a failure case, any controller that claims resources on MyRobotHW4 will fail
94  if (!start_list.empty() || !stop_list.empty())
95  {
96  for (std::list<hardware_interface::ControllerInfo>::const_iterator it = start_list.begin(); it != start_list.end(); ++it)
97  {
98  if (it->claimed_resources.empty())
99  {
100  continue;
101  }
102  else
103  {
104  throw hardware_interface::HardwareInterfaceException("MyRobotHW4 can't switch controllers");
105  }
106  }
107  }
108 }
109 
110 }
111 
113 
void write(const ros::Time &time, const ros::Duration &period)
virtual bool init(ros::NodeHandle &root_nh, ros::NodeHandle &robot_hw_nh)
void registerHandle(const ForceTorqueSensorHandle &handle)
hardware_interface::ForceTorqueSensorInterface ft_sensor_interface_
Definition: my_robot_hw_4.h:56
virtual void doSwitch(const std::list< hardware_interface::ControllerInfo > &start_list, const std::list< hardware_interface::ControllerInfo > &stop_list)
void read(const ros::Time &time, const ros::Duration &period)
#define PLUGINLIB_EXPORT_CLASS(class_type, base_class_type)
hardware_interface::HardwareInterface a_plain_hw_interface_
Definition: my_robot_hw_4.h:57
virtual bool prepareSwitch(const std::list< hardware_interface::ControllerInfo > &start_list, const std::list< hardware_interface::ControllerInfo > &stop_list)


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