hardware_interface_adapter.h File Reference

#include <cassert>
#include <string>
#include <vector>
#include <memory>
#include <ros/node_handle.h>
#include <ros/time.h>
#include <control_toolbox/pid.h>
#include <hardware_interface/joint_command_interface.h>
#include <hardware_interface/posvel_command_interface.h>
#include <hardware_interface/posvelacc_command_interface.h>

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Classes
class	ClosedLoopHardwareInterfaceAdapter< State >
	Helper base class template for closed loop HardwareInterfaceAdapter implementations. More...
class	HardwareInterfaceAdapter< HardwareInterface, State >
	Helper class to simplify integrating the JointTrajectoryController with different hardware interfaces. More...
class	HardwareInterfaceAdapter< hardware_interface::EffortJointInterface, State >
	Adapter for an effort-controlled hardware interface. Maps position and velocity errors to effort commands through a position PID loop. More...
class	HardwareInterfaceAdapter< hardware_interface::PositionJointInterface, State >
	Adapter for a position-controlled hardware interface. Forwards desired positions as commands. More...
class	HardwareInterfaceAdapter< hardware_interface::PosVelAccJointInterface, State >
	Adapter for a spline-controlled hardware interface. Forwards desired positions as commands. More...
class	HardwareInterfaceAdapter< hardware_interface::PosVelJointInterface, State >
	Adapter for a pos-vel hardware interface. Forwards desired positions with velcities as commands. More...
class	HardwareInterfaceAdapter< hardware_interface::VelocityJointInterface, State >
	Adapter for an velocity-controlled hardware interface. Maps position and velocity errors to velocity commands through a velocity PID loop. More...