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