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40 #ifndef GENERIC_ROS_CONTROL__SIM_HW_INTERFACE_H
41 #define GENERIC_ROS_CONTROL__SIM_HW_INTERFACE_H
48 class SimHWInterface :
public GenericHWInterface
virtual void enforceLimits(ros::Duration &period)
virtual void positionControlSimulation(ros::Duration &elapsed_time, const std::size_t joint_id)
Basic model of system for position control.
virtual void write(ros::Duration &elapsed_time)
Write the command to the robot hardware.
std::vector< double > joint_position_prev_
virtual void init()
Initialize the robot hardware interface.
SimHWInterface(ros::NodeHandle &nh, urdf::Model *urdf_model=NULL)
Constructor.
virtual void read(ros::Duration &elapsed_time)
Read the state from the robot hardware.