HardwareInterfaceAdapter< hardware_interface::PosVelAccJointInterface, State > Class Template Reference

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

#include <hardware_interface_adapter.h>

Public Member Functions
	HardwareInterfaceAdapter ()
bool	init (std::vector< hardware_interface::PosVelAccJointHandle > &joint_handles, ros::NodeHandle &)
void	starting (const ros::Time &)
void	stopping (const ros::Time &)
void	updateCommand (const ros::Time &, const ros::Duration &, const State &desired_state, const State &)

Private Attributes
std::vector< hardware_interface::PosVelAccJointHandle > *	joint_handles_ptr_

Detailed Description

template<class State>
class HardwareInterfaceAdapter< hardware_interface::PosVelAccJointInterface, State >

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

Definition at line 328 of file hardware_interface_adapter.h.

Constructor & Destructor Documentation

template<class State >

HardwareInterfaceAdapter< hardware_interface::PosVelAccJointInterface, State >::HardwareInterfaceAdapter ( )

inline

Definition at line 331 of file hardware_interface_adapter.h.

Member Function Documentation

template<class State >

bool HardwareInterfaceAdapter< hardware_interface::PosVelAccJointInterface, State >::init ( std::vector< hardware_interface::PosVelAccJointHandle > &  joint_handles, ros::NodeHandle &    )

inline

Definition at line 333 of file hardware_interface_adapter.h.

template<class State >

void HardwareInterfaceAdapter< hardware_interface::PosVelAccJointInterface, State >::starting ( const ros::Time &  )

inline

Definition at line 341 of file hardware_interface_adapter.h.

template<class State >

void HardwareInterfaceAdapter< hardware_interface::PosVelAccJointInterface, State >::stopping ( const ros::Time &  )

inline

Definition at line 342 of file hardware_interface_adapter.h.

template<class State >

void HardwareInterfaceAdapter< hardware_interface::PosVelAccJointInterface, State >::updateCommand ( const ros::Time &  , const ros::Duration &  , const State &  desired_state, const State &    )

inline

Definition at line 344 of file hardware_interface_adapter.h.

Member Data Documentation

template<class State >

std::vector<hardware_interface::PosVelAccJointHandle>* HardwareInterfaceAdapter< hardware_interface::PosVelAccJointInterface, State >::joint_handles_ptr_

private

Definition at line 358 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