HardwareInterfaceAdapter< hardware_interface::PositionJointInterface > Class 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 (hardware_interface::JointHandle &joint_handle, ros::NodeHandle &controller_nh)
void	starting (const ros::Time &time)
void	stopping (const ros::Time &time)
double	updateCommand (const ros::Time &, const ros::Duration &period, double desired_position, double desired_velocity, double error_position, double error_velocity, double max_allowed_effort)

Private Attributes
hardware_interface::JointHandle *	joint_handle_ptr_

Detailed Description

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

Definition at line 78 of file hardware_interface_adapter.h.

Constructor & Destructor Documentation

HardwareInterfaceAdapter()

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

inline

Definition at line 81 of file hardware_interface_adapter.h.

Member Function Documentation

init()

bool HardwareInterfaceAdapter< hardware_interface::PositionJointInterface >::init ( hardware_interface::JointHandle &  joint_handle, ros::NodeHandle &  controller_nh  )

inline

Definition at line 83 of file hardware_interface_adapter.h.

starting()

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

inline

Definition at line 91 of file hardware_interface_adapter.h.

stopping()

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

inline

Definition at line 92 of file hardware_interface_adapter.h.

updateCommand()

double HardwareInterfaceAdapter< hardware_interface::PositionJointInterface >::updateCommand ( const ros::Time &  , const ros::Duration &  period, double  desired_position, double  desired_velocity, double  error_position, double  error_velocity, double  max_allowed_effort  )

inline

Definition at line 94 of file hardware_interface_adapter.h.

Member Data Documentation

joint_handle_ptr_

hardware_interface::JointHandle* HardwareInterfaceAdapter< hardware_interface::PositionJointInterface >::joint_handle_ptr_

private

Definition at line 108 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