59 interface.registerHandle(handle);
73 interface.registerHandle(handle);
void registerInterface(T *iface)
ActuatorData act_cmd_data
TransmissionSharedPtr transmission
InverseTransmissionInterfaces inverse_transmission_interfaces
Handle for propagating actuator velocities to joint velocities for a given transmission.
bool registerTransmission(TransmissionLoaderData &loader_data, TransmissionHandleData &handle_data) override
static bool hasResource(const std::string &name, const Interface &iface)
ActuatorToJointVelocityInterface act_to_jnt_vel_cmd
JointToActuatorStateInterface jnt_to_act_state
RobotTransmissions * robot_transmissions
Lifecycle is externally controlled (ie. hardware abstraction)
bool registerTransmission(TransmissionLoaderData &loader_data, TransmissionHandleData &handle_data) override
#define PLUGINLIB_EXPORT_CLASS(class_type, base_class_type)
Handle for propagating joint state (position, velocity and effort) to actuator state for a given tran...
ActuatorData act_state_data