Adapter for a position-controlled hardware interface. Forwards desired positions as commands. More...

Public Member Functions
	HardwareInterfaceAdapter ()

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 &, const ros::Duration &period, double desired_position, double desired_velocity, double error_position, double error_velocity, double max_allowed_effort)

Private Attributes
hardware_interface::JointHandle *	joint_handle_ptr_

Detailed Description

Adapter for a position-controlled hardware interface. Forwards desired positions as commands.

Constructor & Destructor Documentation

HardwareInterfaceAdapter< hardware_interface::PositionJointInterface >::HardwareInterfaceAdapter ( )

inline

bool HardwareInterfaceAdapter< hardware_interface::PositionJointInterface >::init	(	hardware_interface::JointHandle &	joint_handle,
		ros::NodeHandle &	controller_nh
	)

inline

void HardwareInterfaceAdapter< hardware_interface::PositionJointInterface >::starting ( const ros::Time & time )

inline

void HardwareInterfaceAdapter< hardware_interface::PositionJointInterface >::stopping ( const ros::Time & time )

inline

double HardwareInterfaceAdapter< hardware_interface::PositionJointInterface >::updateCommand	(	const ros::Time &	,
		const ros::Duration &	period,
		double	desired_position,
		double	desired_velocity,
		double	error_position,
		double	error_velocity,
		double	max_allowed_effort
	)

inline

private

The documentation for this class was generated from the following file: