qb_hand_hardware_interface.cpp

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/***
 *  Software License Agreement: BSD 3-Clause License
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#include <qb_hand_hardware_interface/qb_hand_hardware_interface.h>

using namespace qb_hand_hardware_interface;

qbHandHW::qbHandHW()
    : qbDeviceHW(std::make_shared<qb_hand_transmission_interface::qbHandVirtualTransmission>(), {"synergy_joint"}, {"synergy_joint"}) {

}

qbHandHW::~qbHandHW() {

}

std::vector<std::string> qbHandHW::getJoints() {
  return joints_.names;
}

bool qbHandHW::init(ros::NodeHandle &root_nh, ros::NodeHandle &robot_hw_nh) {
  if (!qb_device_hardware_interface::qbDeviceHW::init(root_nh, robot_hw_nh)) {
    return false;
  }

  // if the device interface initialization has succeed the device info have been retrieved
  std::static_pointer_cast<qb_hand_transmission_interface::qbHandVirtualTransmission>(transmission_.getTransmission())->setPositionFactor(device_.position_limits.at(1));
  return true;
}

void qbHandHW::read(const ros::Time &time, const ros::Duration &period) {
  // read actuator state from the hardware (convert to proper measurement units)
  qb_device_hardware_interface::qbDeviceHW::read(time, period);
}

void qbHandHW::write(const ros::Time &time, const ros::Duration &period) {
  // send actuator command to the hardware (saturate and convert to proper measurement units)
  qb_device_hardware_interface::qbDeviceHW::write(time, period);
}

PLUGINLIB_EXPORT_CLASS(qb_hand_hardware_interface::qbHandHW, hardware_interface::RobotHW)