joint_state_interface_provider.h
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27 
29 
30 #pragma once
31 
32 
33 // ros_control
36 
37 namespace transmission_interface
38 {
39 
41 {
42 public:
43  bool updateJointInterfaces(const TransmissionInfo& transmission_info,
45  JointInterfaces& joint_interfaces,
46  RawJointDataMap& raw_joint_data_map) override;
47 
48 protected:
49  bool getJointStateData(const TransmissionInfo& transmission_info,
50  const RawJointDataMap& raw_joint_data_map,
51  JointData& jnt_state_data) override;
52 
53  bool getJointCommandData(const TransmissionInfo& /*transmission_info*/,
54  const RawJointDataMap& /*raw_joint_data_map*/,
55  JointData& /*jnt_cmd_data*/) override {return true;}
56 
57  bool getActuatorStateData(const TransmissionInfo& transmission_info,
59  ActuatorData& act_state_data) override;
60 
61  bool getActuatorCommandData(const TransmissionInfo& /*transmission_info*/,
62  hardware_interface::RobotHW* /*robot_hw*/,
63  ActuatorData& /*act_cmd_data*/) override {return true;}
64 
66  TransmissionHandleData& handle_data) override;
67 };
68 
69 } // namespace
bool getJointCommandData(const TransmissionInfo &, const RawJointDataMap &, JointData &) override
bool getActuatorCommandData(const TransmissionInfo &, hardware_interface::RobotHW *, ActuatorData &) override
Contains pointers to raw data representing the position, velocity and acceleration of a transmission'...
Definition: transmission.h:63
Contains semantic info about a given transmission loaded from XML (URDF)
Joint interfaces of a robot. Only used interfaces need to be populated.
Structs to hold transmission data loaded straight from XML (URDF).
bool registerTransmission(TransmissionLoaderData &loader_data, TransmissionHandleData &handle_data) override
bool getActuatorStateData(const TransmissionInfo &transmission_info, hardware_interface::RobotHW *robot_hw, ActuatorData &act_state_data) override
bool getJointStateData(const TransmissionInfo &transmission_info, const RawJointDataMap &raw_joint_data_map, JointData &jnt_state_data) override
Contains pointers to raw data representing the position, velocity and acceleration of a transmission'...
Definition: transmission.h:50
std::map< std::string, RawJointData > RawJointDataMap
bool updateJointInterfaces(const TransmissionInfo &transmission_info, hardware_interface::RobotHW *robot_hw, JointInterfaces &joint_interfaces, RawJointDataMap &raw_joint_data_map) override
Update a robot&#39;s joint interfaces with joint information contained in a transmission.


transmission_interface
Author(s): Adolfo Rodriguez Tsouroukdissian
autogenerated on Sun May 10 2020 03:14:56