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00001 /* 00002 * UOS-ROS packages - Robot Operating System code by the University of Osnabrück 00003 * Copyright (C) 2011 University of Osnabrück 00004 * 00005 * This program is free software; you can redistribute it and/or 00006 * modify it under the terms of the GNU General Public License 00007 * as published by the Free Software Foundation; either version 2 00008 * of the License, or (at your option) any later version. 00009 * 00010 * This program is distributed in the hope that it will be useful, 00011 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00012 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00013 * GNU General Public License for more details. 00014 * 00015 * You should have received a copy of the GNU General Public License 00016 * along with this program; if not, write to the Free Software 00017 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA. 00018 * 00019 * katana_gripper_joint_trajectory_controller.h 00020 * 00021 * Created on: 07.11.2011 00022 * Author: Karl Glatz <glatz@hs-weingarten.de> 00023 * Ravensburg-Weingarten, University of Applied Sciences 00024 * 00025 */ 00026 00027 #include <katana_gazebo_plugins/gazebo_ros_katana_gripper_action_interface.h> 00028 00029 namespace katana_gazebo_plugins 00030 { 00031 00032 void IGazeboRosKatanaGripperAction::setCurrentPoint(double pos, double vel) 00033 { 00034 GRKAPoint point = {pos, vel}; 00035 setCurrentPoint(point); 00036 } 00037 00038 }