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

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

#include <hardware_interface_adapter.h>

Public Member Functions
	HardwareInterfaceAdapter ()
bool	init (std::vector< hardware_interface::JointHandle > &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::JointHandle > *	joint_handles_ptr_

Detailed Description

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

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

The following is an example configuration of a controller that uses this adapter.

head_controller:
  type: "position_controllers/JointTrajectoryController"
  joints:
    - head_1_joint
    - head_2_joint

  constraints:
    goal_time: 0.6
    stopped_velocity_tolerance: 0.02
    head_1_joint: {trajectory: 0.05, goal: 0.02}
    head_2_joint: {trajectory: 0.05, goal: 0.02}
  stop_trajectory_duration: 0.5
  state_publish_rate:  25

Definition at line 95 of file hardware_interface_adapter.h.

Constructor & Destructor Documentation

template<class State >

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

inline

Definition at line 98 of file hardware_interface_adapter.h.

Member Function Documentation

template<class State >

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

inline

Definition at line 100 of file hardware_interface_adapter.h.

template<class State >

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

inline

Definition at line 108 of file hardware_interface_adapter.h.

template<class State >

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

inline

Definition at line 119 of file hardware_interface_adapter.h.

template<class State >

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

inline

Definition at line 121 of file hardware_interface_adapter.h.

Member Data Documentation

template<class State >

std::vector<hardware_interface::JointHandle>* HardwareInterfaceAdapter< hardware_interface::PositionJointInterface, State >::joint_handles_ptr_

private

Definition at line 132 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