effort_test_controller.h

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// Copyright (C) 2012, hiDOF INC.
//
// Redistribution and use in source and binary forms, with or without
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//     this list of conditions and the following disclaimer.
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//     contributors may be used to endorse or promote products derived from
//     this software without specific prior written permission.
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#ifndef CONTROLLER_MANAGER_TESTS_EFFORT_TEST_CONTROLLER_H
#define CONTROLLER_MANAGER_TESTS_EFFORT_TEST_CONTROLLER_H


#include <controller_interface/controller.h>
#include <hardware_interface/joint_command_interface.h>
#include <pluginlib/class_list_macros.h>


namespace controller_manager_tests
{


class EffortTestController: public controller_interface::Controller<hardware_interface::EffortJointInterface>
{
public:
  EffortTestController(){}

  bool init(hardware_interface::EffortJointInterface* hw, ros::NodeHandle &n);
  void starting(const ros::Time& time);
  void update(const ros::Time& time, const ros::Duration& period);
  void stopping(const ros::Time& time);

private:
  std::vector<hardware_interface::JointHandle> joint_effort_commands_;

};

}

#endif