hardware_interface_adapter.h File Reference

#include <cassert>
#include <string>
#include <vector>
#include <boost/shared_ptr.hpp>
#include <ros/node_handle.h>
#include <ros/time.h>
#include <control_toolbox/pid.h>
#include <hardware_interface/joint_command_interface.h>

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Classes
class	HardwareInterfaceAdapter< HardwareInterface, State >
	Helper class to simplify integrating the GripperActionController with different hardware interfaces.
class	HardwareInterfaceAdapter< hardware_interface::EffortJointInterface >
	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 >
	Adapter for a position-controlled hardware interface. Forwards desired positions as commands. More...