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joint_trajectory_controller_plugin.cpp
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/*********************************************************************
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2015, Fraunhofer IPA
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Fraunhofer IPA nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*********************************************************************/
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/* Author: Mathias Lüdtke */
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#include <
ros/ros.h
>
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#include <
moveit_ros_control_interface/ControllerHandle.h
>
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#include <
pluginlib/class_list_macros.hpp
>
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#include <
moveit_simple_controller_manager/follow_joint_trajectory_controller_handle.h
>
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#include <memory>
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namespace
moveit_ros_control_interface
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{
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class
JointTrajectoryControllerAllocator
:
public
ControllerHandleAllocator
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{
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public
:
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virtual
moveit_controller_manager::MoveItControllerHandlePtr
alloc
(
const
std::string& name,
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const
std::vector<std::string>& resources)
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{
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return
std::make_shared<moveit_simple_controller_manager::FollowJointTrajectoryControllerHandle>(
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name,
"follow_joint_trajectory"
);
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}
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};
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}
// namespace moveit_ros_control_interface
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PLUGINLIB_EXPORT_CLASS
(
moveit_ros_control_interface::JointTrajectoryControllerAllocator
,
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moveit_ros_control_interface::ControllerHandleAllocator
);
follow_joint_trajectory_controller_handle.h
PLUGINLIB_EXPORT_CLASS
PLUGINLIB_EXPORT_CLASS(moveit_ros_control_interface::JointTrajectoryControllerAllocator, moveit_ros_control_interface::ControllerHandleAllocator)
ControllerHandle.h
class_list_macros.hpp
moveit_ros_control_interface::JointTrajectoryControllerAllocator
Simple allocator for moveit_simple_controller_manager::FollowJointTrajectoryControllerHandle instance...
Definition:
joint_trajectory_controller_plugin.cpp:48
moveit_ros_control_interface::ControllerHandleAllocator
Definition:
ControllerHandle.h:50
ros.h
moveit_ros_control_interface
Definition:
ControllerHandle.h:43
moveit_ros_control_interface::JointTrajectoryControllerAllocator::alloc
virtual moveit_controller_manager::MoveItControllerHandlePtr alloc(const std::string &name, const std::vector< std::string > &resources)
Definition:
joint_trajectory_controller_plugin.cpp:51
moveit_ros_control_interface
Author(s): Mathias Lüdtke
autogenerated on Wed Jul 10 2019 04:04:42